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This commit is contained in:
Jason Wen
2025-03-16 04:44:46 -04:00
parent 1518495e96
commit 941b2ab929
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+2 -2
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@@ -74,9 +74,9 @@ class LatControlTorque(LatControl):
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
self.nnlc.lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False)
self.nnlc.lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.nnlc.use_lateral_jerk, gravity_adjusted=False)
torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
self.nnlc.lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False)
self.nnlc.lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.nnlc.use_lateral_jerk, gravity_adjusted=False)
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
error = desired_lateral_accel - actual_lateral_accel
friction_input = self.nnlc.update_stock_lateral_jerk(error) if self.nnlc.use_lateral_jerk else error