From 5260d68b9f7f153c85421d2d554a3e2231b43177 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Tue, 10 Jun 2025 13:15:30 +0200
Subject: [PATCH] Update latcontrol_curvature.py

---
 selfdrive/controls/lib/latcontrol_curvature.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index 06092866c..3fcef084b 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -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: