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Controlsd: fix bug in curv rate limit #23250

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Merged
merged 2 commits into from
Jan 4, 2022
Merged

Controlsd: fix bug in curv rate limit #23250

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e0ac3ca
Controlsd: fix bug in curv rate limit
haraschax Dec 16, 2021
f0d1a15
update ref
haraschax Jan 4, 2022
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4 changes: 2 additions & 2 deletions selfdrive/controls/lib/drive_helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,6 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
-max_curvature_rate,
max_curvature_rate)
safe_desired_curvature = clip(desired_curvature,
current_curvature - max_curvature_rate/DT_MDL,
current_curvature + max_curvature_rate/DT_MDL)
current_curvature - max_curvature_rate * DT_MDL,
current_curvature + max_curvature_rate * DT_MDL)
return safe_desired_curvature, safe_desired_curvature_rate
2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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@@ -1 +1 @@
67534ae58a87b6993a0a9653d255e629785a07c3
e0ac3ca09baaf0d791d0e7734799bb297ad91f79