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Update latcontrol_curvature.py

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infiniteCable
2025-06-09 11:02:23 +02:00
committed by GitHub
parent 737eeaa3b2
commit 7e6b6039a5
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+3 -1
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@@ -5,6 +5,8 @@ from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
CURVATURE_SATURATION_THRESHOLD = 0.005
class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
@@ -39,6 +41,6 @@ class LatControlCurvature(LatControl):
pid_log.output = float(output_curvature)
pid_log.actualCurvature = float(actual_curvature)
pid_log.desiredCurvature = float(desired_curvature)
pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-5, CS, steer_limited_by_controls, curvature_limited))
pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < CURVATURE_SATURATION_THRESHOLD, CS, steer_limited_by_controls, curvature_limited))
return 0.0, 0.0, output_curvature, pid_log