From d3f064f5ca2563ab139687550eb5d3139b6b8fea Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 4 Jan 2022 13:21:56 -0800 Subject: [PATCH] Controlsd: fix bug in curv rate limit (#23250) * Controlsd: fix bug in curv rate limit * update ref --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index f173f5fd98e09e..14be3d5ed8fa99 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 9ccca04ccead25..72e2a548604815 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -67534ae58a87b6993a0a9653d255e629785a07c3 \ No newline at end of file +e0ac3ca09baaf0d791d0e7734799bb297ad91f79 \ No newline at end of file