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NNLC: ensure PID is always initialized properly (#1304)

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This commit is contained in:
Jason Wen
2025-10-07 21:45:33 -04:00
committed by GitHub
parent aeaac22274
commit 408d52d72a
1 changed files with 2 additions and 1 deletions
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sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
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@@ -58,7 +58,8 @@ class LatControlTorqueExtBase:
self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
self._ff = 0.0
self._pid = PIDController(0.0, 0.0, k_f=0.0)
self._pid = PIDController(self.torque_params.kp, self.torque_params.ki,
k_f=self.torque_params.kf)
self._pid_log = None
self._setpoint = 0.0
self._measurement = 0.0