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DevTekVE
14 lines
841 B
Python
14 lines
841 B
Python
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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class LatControlAngleTorque(LatControlTorque, LatControlAngle):
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def __init__(self, CP, CP_SP, CI):
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LatControlTorque.__init__(self, CP, CP_SP, CI)
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LatControlAngle.__init__(self, CP, CP_SP, CI)
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def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
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torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
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_, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
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return torque, angle, angle_log
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