mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-05 07:43:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update controlsd.py

Browse Source
This commit is contained in:
infiniteCable2
2025-04-06 17:14:58 +02:00
committed by GitHub
parent d926dbd88d
commit 8c77ceb2b8
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+5 -2
View File
@@ -88,8 +88,11 @@ class Controls:
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, 0)
self.curvature_3dof = -self.VM.calc_curvature_3dof(self.calibrated_pose.acceleration.y, self.calibrated_pose.acceleration.x, self.calibrated_pose.angular_velocity.yaw,
CS.vEgo, steer_angle_without_offset, 0)
if self.calibrated_pose is not None:
self.curvature_3dof = -self.VM.calc_curvature_3dof(self.calibrated_pose.acceleration.y, self.calibrated_pose.acceleration.x, self.calibrated_pose.angular_velocity.yaw,
CS.vEgo, steer_angle_without_offset, 0)
else:
self.curvature_3dof = self.curvature
# Update Torque Params
if self.CP.lateralTuning.which() == 'torque':