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LateralPlanner should only compute curvature (#20289)

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* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c23ec9f75389c9ad86400e9a9d23ee6bc5b648a2
This commit is contained in:
Willem Melching
2021-03-12 06:08:51 +01:00
committed by GitHub
parent c4aa4ef5c7
commit 4bd1929d2b
15 changed files with 147 additions and 126 deletions
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tools/replay/ui.py
+1 -1
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@@ -143,7 +143,7 @@ def ui_thread(addr, frame_address):
plot_arr[:-1] = plot_arr[1:]
plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['controlsState'].steeringAngleDesiredDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas