From cd3e1db8756f5e67173720abaa36013aca1bbfb8 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 Feb 2024 14:22:17 -0500 Subject: [PATCH] NNLC: Fix upstream conflict --- selfdrive/controls/lib/latcontrol_torque.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ad9bfcc840..5591cd0c29 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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