From 79a0dabc432819bb018055e5b64e60e0eb263c2a Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 29 Mar 2025 02:30:42 +0100 Subject: [PATCH] chsnge alpha to nicer value --- selfdrive/controls/lib/latcontrol_angle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 915f6d2ebe..4fb5ff855b 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -12,7 +12,7 @@ class LatControlAngle(LatControl): # Initialize the filtered curvature to zero (or an appropriate initial value) self.filtered_curvature = 0.0 # Filter coefficient: adjust between 0 (very smooth) and 1 (no filtering) - self.filter_alpha = 0.5 + self.filter_alpha = 0.1 def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): angle_log = log.ControlsState.LateralAngleState.new_message()