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Update latcontrol_curvature.py

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infiniteCable
2025-07-25 13:34:29 +02:00
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parent 5e48910801
commit ce37fc84b5
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -42,7 +42,7 @@ class LatControlCurvature(LatControl):
pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.curvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature
output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature
pid_log.active = True
pid_log.p = float(self.pid.p)