mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-06 00:03:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update disturbance_controller.py

Browse Source
This commit is contained in:
infiniteCable
2025-04-12 09:04:26 +02:00
committed by GitHub
parent 18ce02da9c
commit a6e236a3f9
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/disturbance_controller.py
+2 -2
View File
@@ -50,10 +50,10 @@ class DisturbanceController:
return desired_curvature
steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, params.roll)
actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.)
actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
params.roll)
0.)
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])
alpha = self.compute_dynamic_alpha(desired_curvature)