From 941b2ab92995edbca3f2ca5afa02069bffd1df45 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 16 Mar 2025 04:44:46 -0400 Subject: [PATCH] more fix --- selfdrive/controls/lib/latcontrol_torque.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index d07fd39c86..749777ec52 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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