mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-04 15:23:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update controlsd.py

Browse Source
This commit is contained in:
infiniteCable
2025-07-06 14:26:25 +02:00
committed by GitHub
parent a542fb119f
commit b874463fdc
1 changed files with 3 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+3
View File
@@ -55,6 +55,7 @@ class Controls(ControlsExt):
self.steer_limited_by_controls = False
self.curvature = 0.0
self.curvature_no_roll = 0.0
self.desired_curvature = 0.0
self.roll = 0.0
@@ -106,6 +107,7 @@ class Controls(ControlsExt):
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
self.curvature_no_roll = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, 0.0)
self.roll = lp.roll
# Update Torque Params
@@ -182,6 +184,7 @@ class Controls(ControlsExt):
CS = self.sm['carState']
CC.curvatureControllerActive = self.enable_curvature_controller # for car controller curvature correction activation
CC.currentCurvatureNoRoll = self.curvature_no_roll
CC.rollDEPRECATED = self.roll # for lateral iso limit calculation
# Orientation and angle rates can be useful for carcontroller