Reapply "Remove steering wheel offset for planner slow down for curve…

…s" (commaai#33848) (commaai#33849) * Reapply "Remove steering wheel offset for planner slow down for curves" (commaai#33848) This reverts commit 4f8b112. * careless * Update ref_commit
FrogAi · Oct 25, 2024 · bb36fb9 · bb36fb9
1 parent 3341fe3
commit bb36fb9
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -212,7 +212,8 @@ def update(self, classic_model, radarless_model, sm, frogpilot_toggles):
 
     accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration]
     if self.mpc.mode == 'acc':
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 

diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
@@ -30,7 +30,7 @@ def plannerd_thread():
 
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotCarState', 'frogpilotPlan'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotCarState', 'frogpilotPlan'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   # FrogPilot variables