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Update controlsd.py

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infiniteCable
2025-04-20 11:21:39 +02:00
committed by GitHub
parent 3e03647ff5
commit fad7e2910f
1 changed files with 4 additions and 3 deletions
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selfdrive/controls/controlsd.py
+4 -3
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@@ -99,9 +99,10 @@ class Controls:
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
self.curvature_3dof = -self.VM.calc_curvature_3dof(self.calibrated_pose.acceleration.y, self.calibrated_pose.acceleration.x,
self.calibrated_pose.angular_velocity.yaw, CS.vEgo, steer_angle_without_offset,
lp.roll)
if self.calibrated_pose is not None:
self.curvature_3dof = -self.VM.calc_curvature_3dof(self.calibrated_pose.acceleration.y, self.calibrated_pose.acceleration.x,
self.calibrated_pose.angular_velocity.yaw, CS.vEgo, steer_angle_without_offset,
lp.roll)
self.roll = lp.roll
# Update Torque Params