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fix import

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This commit is contained in:
Jason Wen
2025-03-16 15:04:12 -04:00
parent acfbd9a2ec
commit ac66357bb4
2 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+1 -1
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@@ -34,7 +34,7 @@ class LatControlTorque(LatControl):
self.use_steering_angle = self.torque_params.useSteeringAngle
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.nnlc = NeuralNetworkLateralControl(self)
self.nnlc = NeuralNetworkLateralControl(self, CP, CI)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+4 -4
View File
@@ -76,11 +76,11 @@ def roll_pitch_adjust(roll, pitch):
class NeuralNetworkLateralControl:
def __init__(self, lac_torque):
def __init__(self, lac_torque, CI, CP):
self.lac_torque = lac_torque
self.CI = lac_torque.CI
self.CP = lac_torque.CP
self.CP_SP = lac_torque.CI.CP_SP
self.CI = CI
self.CP = CP
self.CP_SP = CI.CP_SP
self.params = Params()
# NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data