NNLC: Fix upstream conflict

2026-09-15 00:03:45 +08:00 · 2024-02-09 14:22:17 -05:00
parent e133647123
commit cd3e1db875
1 changed files with 1 additions and 1 deletions
@@ -244,7 +244,7 @@ class LatControlTorque(LatControl):
        if self.nn_friction_override:
          pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params,
                                                          friction_input,
-                                                          lateral_accel_deadzone, friction_compensation=True)
+                                                          lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False)
        nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input
      else:
        gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation