From d82945a1da2eb5e13e28e89cb1122a462521c6c7 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Mon, 9 Jun 2025 11:05:04 +0200 Subject: [PATCH] Update controlsd.py --- selfdrive/controls/controlsd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bc5bf4802..a0c46f73a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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