From ce37fc84b55098dc5085a4a24ecba56020d701f8 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Fri, 25 Jul 2025 13:34:29 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index 8e58e2413..a5982da49 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -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)