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Update latcontrol_curvature.py

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infiniteCable2
2025-07-31 19:22:22 +02:00
committed by GitHub
parent 3ba648ec05
commit 55b25baaa1
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+2 -2
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@@ -11,7 +11,7 @@ CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.useCarCurvature = CP.lateralTuning.pid.carCurvatureCorrection
self.useCarSteerCurvature = CP.ret.useCarSteerCurvature
self.pid = MultiplicativeUnwindPID((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
@@ -42,7 +42,7 @@ class LatControlCurvature(LatControl):
pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature
output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarSteerCurvature else pid_curvature
pid_log.active = True
pid_log.p = float(self.pid.p)