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Update latcontrol_curvature.py

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infiniteCable
2025-07-08 17:14:41 +02:00
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parent cde9fca5ad
commit 2e8bc65f6f
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -31,7 +31,7 @@ class LatControlCurvature(LatControl):
actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
roll_compensation = VM.roll_compensation(params.roll, CS.vEgo)
gravity_adjusted_curvature = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature - actual_curvature)