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Fix typo in parameter access method.

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Replaced `self._params` with `self.params` to correctly access the parameter `HkgTuningAngleSmoothingFactor`. This ensures the smoothing factor is updated as intended during the control loop.
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DevTekVE
2025-04-03 23:10:06 +02:00
parent ea3a9ae911
commit 45d110830c
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_angle.py
+1 -1
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@@ -22,7 +22,7 @@ class LatControlAngle(LatControl):
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
self.count += 1
if self.count % 25 == 0 and (smoothingFactorParam := self._params.get("HkgTuningAngleSmoothingFactor")):
if self.count % 25 == 0 and (smoothingFactorParam := self.params.get("HkgTuningAngleSmoothingFactor")):
self.count = 0
self.smoothing_factor_incr = float(smoothingFactorParam) / 10.0