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fix

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This commit is contained in:
Jason Wen
2025-03-20 12:35:18 -04:00
parent 0c60e8a4e8
commit d15a5ce300
1 changed files with 1 additions and 1 deletions
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sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+1 -1
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@@ -105,7 +105,7 @@ class LatControlTorqueExtBase:
desired_lateral_jerk = (np.interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS,
self.model_v2.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
self.lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
if self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
if not self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
self.lookahead_lateral_jerk = 0.0
self.actual_lateral_jerk = 0.0
self.lat_accel_friction_factor = 1.0