From 6ef386da3d7e333583eaa93d737a16a043b6e7bc Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 9 Aug 2025 16:56:37 -0400 Subject: [PATCH] NNLC: fix friction not being applied to error (#1113) * params: fix type * NNLC: fix friction not being applied to error * another PR * apply suggestions * lint --- sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py index 4872f5c88..466bae7e6 100644 --- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py +++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py @@ -8,7 +8,7 @@ from collections import deque import math import numpy as np -from opendbc.car.interfaces import LatControlInputs +from opendbc.car import FRICTION_THRESHOLD, get_friction from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.selfdrive.modeld.constants import ModelConstants @@ -126,7 +126,5 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase): self._ff = self.model.evaluate(nn_input) # apply friction override for cars with low NN friction response - # TODO-SP: verify with twilsonco if this change is appropriate if self.model.friction_override: - self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params, - gravity_adjusted=False) + self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)