From 55b25baaa1fc0c70deda23e3a87f24f80ef8e5f8 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Thu, 31 Jul 2025 19:22:22 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index 554de4285..c5499f93a 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -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)