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Update latcontrol_curvature.py fix

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infiniteCable
2025-07-22 21:44:34 +02:00
committed by GitHub
parent b35bdb773f
commit e4b60b29fc
1 changed files with 3 additions and 6 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+3 -6
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@@ -32,14 +32,11 @@ class LatControlCurvature(LatControl):
actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
curvature_correction = CS.curvature - actual_curvature if self.useCarCurvature else 0.
curvature_car_correction = CS.curvature - desired_curvature if self.useCarCurvature else 0.
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
correction = curvature_correction - roll_compensation
desired_curvature_corr = desired_curvature + correction
actual_curvature_corr = actual_curvature + correction
desired_curvature_corr = desired_curvature + curvature_car_correction - roll_compensation
pid_log.error = float(desired_curvature_corr - actual_curvature_corr)
pid_log.error = float(desired_curvature_corr - actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo, freeze_integrator=freeze_integrator)