mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-09 09:43:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update controlsd.py

Browse Source
This commit is contained in:
infiniteCable
2025-04-07 21:22:28 +02:00
committed by GitHub
parent f16af32459
commit e6baa56786
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -139,7 +139,7 @@ class Controls:
# Reset desired curvature to current to avoid violating the limits on engage
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
if self.enable_disturbance_correction:
new_desired_curvature = self.disturbance_controller.get_correction(CS, self.VM, lp, self.calibrated_pose, new_desired_curvature)
new_desired_curvature = self.disturbance_controller.compensate(CS, self.VM, lp, self.calibrated_pose, new_desired_curvature)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
actuators.curvature = self.desired_curvature