From 2e8bc65f6f66dd3bfc545157c56cf8d9f138d79e Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Tue, 8 Jul 2025 17:14:41 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index ee7b7872f..260b5e6ae 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -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)