Fix division by zero in lateral_planner.py #20071
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Or != 0 would be better? Sometimes we are getting negative v_ego (When car is stopping) |
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Hmmm, I don't really like that logic. Since if v_ego is super small it can potentially output weird things. I think the best is to replace v_ego with max(v_ego, 1e-1). Can you do that? |
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Done |
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Think I need to add a new reference |
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lateral_planner.py:191: RuntimeWarning: invalid value encountered in double_scalars
When v_ego = 0 and OP activated we are getting division by 0 which sets value to nan, so param angleSteers becomes set to nan and could potentially break other code.
How to reproduce: TSS2 Corolla, shift D, enable brake hold, enable ACC, enable OpenPilot. tmux will throw an error and ZMQ will publish lateralPlan with param angleSteers: nan while car is not moving.