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Update latcontrol_curvature.py

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infiniteCable
2025-06-10 13:15:30 +02:00
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parent 3a28de654d
commit 5260d68b9f
1 changed files with 4 additions and 0 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -15,6 +15,10 @@ class LatControlCurvature(LatControl):
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
def reset(self):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralCurvatureState.new_message()
if not active: