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Update latcontrol_curvature.py

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infiniteCable
2025-06-07 01:21:33 +02:00
committed by GitHub
parent 31cb0dc202
commit aa822122cc
1 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+4 -4
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@@ -25,12 +25,12 @@ class LatControlCurvature(LatControl):
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
gravitiy_adjusted_curvature = desired_curvature - roll_compensation
gravity_adjusted_curvature = desired_curvature - roll_compensation
pid_log.error = float(gravitiy_adjusted_curvature - actual_curvature)
pid_log.error = float(gravity_adjusted_curvature - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=gravitiy_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
pid_log.active = True
pid_log.p = float(self.pid.p)
@@ -38,7 +38,7 @@ class LatControlCurvature(LatControl):
pid_log.f = float(self.pid.f)
pid_log.output = float(output_curvature)
pid_log.actualCurvature = float(actual_curvature)
pid_log.desiredCurvature = float(desired_curvature)
pid_log.desiredCurvature = float(gravity_adjusted_curvature)
pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-5, CS, steer_limited_by_controls, curvature_limited))
return 0.0, 0.0, output_curvature, pid_log