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Update latcontrol_curvature.py

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infiniteCable
2025-07-27 14:24:56 +02:00
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parent ad47652aa8
commit b0a5a55733
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -36,7 +36,7 @@ class LatControlCurvature(LatControl):
desired_curvature_corr = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature_corr - actual_curvature)
pid_log.error = float(desired_curvature - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.vEgo < 5 or CS.steeringPressed
pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,