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Update controlsd.py

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infiniteCable
2025-06-09 11:05:04 +02:00
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parent 7e6b6039a5
commit d82945a1da
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -18,7 +18,7 @@ from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature, CURVATURE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
@@ -220,7 +220,7 @@ class Controls(ControlsExt):
self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
elif self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED:
self.steer_limited_by_controls = abs(CC.actuators.curvature - CO.actuatorsOutput.curvature) > 1e-5
self.steer_limited_by_controls = abs(CC.actuators.curvature - CO.actuatorsOutput.curvature) > CURVATURE_SATURATION_THRESHOLD
else:
self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2