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Update controlsd.py

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infiniteCable2
2025-04-06 16:51:10 +02:00
committed by GitHub
parent f4be88be8e
commit fcb392a22c
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/controlsd.py
+2 -1
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@@ -53,6 +53,7 @@ class Controls:
self.desired_curvature = 0.0
self.roll = 0.0
self.enable_disturbance_correction = self.params.get_bool("EnableDisturbanceCorrection")
self.disturbance_controller = DisturbanceController()
self.pose_calibrator = PoseCalibrator()
@@ -138,7 +139,7 @@ class Controls:
# Steering PID loop and lateral MPC
# 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
current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof)
current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof) if self.enable_disturbance_correction else 0
new_desired_curvature = new_desired_curvature - current_disturbance
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)