Remove offset from curvature (#761)

commaai · Jul 25, 2019 · 61bbb52 · 61bbb52
1 parent cf5c4ae
commit 61bbb52
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -341,7 +341,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     "vEgo": CS.vEgo,
     "vEgoRaw": CS.vEgoRaw,
     "angleSteers": CS.steeringAngle,
-    "curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo),
+    "curvature": VM.calc_curvature((CS.steeringAngle - sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD, CS.vEgo),
     "steerOverride": CS.steeringPressed,
     "state": state,
     "engageable": not bool(get_events(events, [ET.NO_ENTRY])),