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Update latcontrol_curvature.py

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infiniteCable
2025-07-23 17:49:20 +02:00
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parent bf11e9bbe7
commit 823df00ef2
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+2 -1
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@@ -35,8 +35,9 @@ class LatControlCurvature(LatControl):
curvature_car_correction = CS.curvature - actual_curvature if self.useCarCurvature else 0.
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
desired_curvature_corr = desired_curvature + curvature_car_correction - roll_compensation
actual_curvature_corr = actual_curvature - roll_compensation
pid_log.error = float(desired_curvature_corr - actual_curvature)
pid_log.error = float(desired_curvature_corr - actual_curvature_corr)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo, freeze_integrator=freeze_integrator)