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Update controlsd.py

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infiniteCable2
2025-04-06 17:57:45 +02:00
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parent 0e0321ae2f
commit 52030b5f76
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -142,8 +142,8 @@ class Controls:
# Steering PID loop and lateral MPC
# Reset desired curvature to current to avoid violating the limits on engage
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof) if self.enable_disturbance_correction else 0
new_desired_curvature = new_desired_curvature - current_disturbance
if self.enable_disturbance_correction:
new_desired_curvature = self.disturbance_controller.compensate(new_desired_curvature, self.curvature_3dof)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
actuators.curvature = self.desired_curvature