From 213c84e6344abf4a22d3e075f22f9a4b7ac4c8a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 15 Dec 2019 20:47:47 -0600 Subject: [PATCH] Update pathplanner.py --- selfdrive/controls/lib/pathplanner.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 8527ed7b8061de..e8835cd177caf8 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -97,10 +97,11 @@ def update(self, sm, pm, CP, VM): elif sm['carState'].rightBlinker: lane_change_direction = LaneChangeDirection.right - if lane_change_direction == LaneChangeDirection.left: - torque_applied = sm['carState'].steeringTorque > 0 and sm['carState'].steeringPressed - else: - torque_applied = sm['carState'].steeringTorque < 0 and sm['carState'].steeringPressed + # if lane_change_direction == LaneChangeDirection.left: + # torque_applied = sm['carState'].steeringTorque > 0 and sm['carState'].steeringPressed + # else: + # torque_applied = sm['carState'].steeringTorque < 0 and sm['carState'].steeringPressed + torque_applied = True lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob