From 408d52d72ab06ca529afa317c107d96d58e9026c Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 7 Oct 2025 21:45:33 -0400 Subject: [PATCH] NNLC: ensure PID is always initialized properly (#1304) --- .../selfdrive/controls/lib/latcontrol_torque_ext_base.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 1965d50b51..609d2f78b6 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -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