mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-04 15:23:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update latcontrol_curvature.py

Browse Source
This commit is contained in:
infiniteCable
2025-07-24 17:15:56 +02:00
committed by GitHub
parent 8608aa6d04
commit 654caaef3c
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_curvature.py
+2 -2
View File
@@ -37,10 +37,10 @@ class LatControlCurvature(LatControl):
desired_curvature_corr = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature_corr - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.vEgo < 5
freeze_integrator = steer_limited_by_controls or CS.vEgo < 5 or CS.steeringPressed
pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator) #, override=CS.steeringPressed)
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.curvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature