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disable steering learner application

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infiniteCable2
2026-05-18 18:07:15 +02:00
parent 9231b7b26e
commit 2dc332fad3
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/controlsd.py
+3 -2
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@@ -187,8 +187,9 @@ class Controls(ControlsExt):
self.model_desired_curvature = float(model_v2.action.desiredCurvature)
if self.enable_smooth_steer:
new_desired_curvature = self.smooth_steer.update(new_desired_curvature)
if CC.latActive and self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED and self.enable_curvatured:
new_desired_curvature = self.curvatured.apply(new_desired_curvature, CS.vEgo)
# CurvatureD completely disabled (minimal hard-disable)
# if CC.latActive and self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED and self.enable_curvatured:
# new_desired_curvature = self.curvatured.apply(new_desired_curvature, CS.vEgo)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS