mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-08 01:03:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update latcontrol_curvature.py

Browse Source
This commit is contained in:
infiniteCable
2025-06-07 01:18:55 +02:00
committed by GitHub
parent 2fe17a6e64
commit 31cb0dc202
1 changed files with 2 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_curvature.py
+2 -3
View File
@@ -20,12 +20,11 @@ class LatControlCurvature(LatControl):
pid_log.active = False
else:
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
assert calibrated_pose is not None
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)
gravitiy_adjusted_curvature = desired_curvature - roll_compensation
pid_log.error = float(gravitiy_adjusted_curvature - actual_curvature)