From ddbdd78ca389c87e4eff8a71fac3cc05299b231f Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Mon, 9 Jun 2025 18:24:27 +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 c35cf337b..db0d19708 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -41,6 +41,6 @@ class LatControlCurvature(LatControl): pid_log.output = float(output_curvature) pid_log.actualCurvature = float(actual_curvature) pid_log.desiredCurvature = float(desired_curvature) - pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < CURVATURE_SATURATION_THRESHOLD, CS, steer_limited_by_controls, curvature_limited)) + pid_log.saturated = bool(self._check_saturation(steer_limited_by_controls, CS, False, curvature_limited)) return 0.0, 0.0, output_curvature, pid_log