From 31cb0dc202c83827d710a5ddec1bd3581814435d Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Sat, 7 Jun 2025 01:18:55 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index 8ea159f75..7325fedfb 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -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)