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Update controlsd.py

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infiniteCable
2025-04-20 18:40:31 +02:00
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parent 19eac1b830
commit 5d09f4e249
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
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@@ -158,7 +158,7 @@ class Controls:
if self.enable_smooth_steer:
new_desired_curvature = self.smooth_steer.update(new_desired_curvature)
if self.enable_disturbance_correction:
new_desired_curvature = self.disturbance_controller.compensate(CS, self.VM, lp, self.calibrated_pose, new_desired_curvature)
new_desired_curvature = self.disturbance_controller.compensate(CS, self.VM, lp, self.calibrated_pose, 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