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Update controlsd.py

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infiniteCable
2025-06-09 10:48:21 +02:00
committed by GitHub
parent 1fac1d5719
commit 737eeaa3b2
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/controlsd.py
+3 -1
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@@ -58,6 +58,7 @@ class Controls(ControlsExt):
self.desired_curvature = 0.0
self.roll = 0.0
self.enable_curvature_controller = self.params.get_bool("EnableCurvatureController")
self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
@@ -89,6 +90,7 @@ class Controls(ControlsExt):
self.param_counter += 1
if self.param_counter >= 100:
self.param_counter = 0
self.enable_curvature_controller = self.params.get_bool("EnableCurvatureController")
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
@@ -160,7 +162,7 @@ class Controls(ControlsExt):
steer, steeringAngleDeg, curvature, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited_by_controls, self.desired_curvature,
self.calibrated_pose, curvature_limited) # TODO what if not available
actuators.curvature = float(curvature)
actuators.curvature = float(curvature) if self.enable_curvature_controller else self.desired_curvature
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
# Ensure no NaNs/Infs