fixed latcontrol reset damp values

edukinara · Mar 24, 2019 · 463c80b · 463c80b
1 parent a07ac15
commit 463c80b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -54,6 +54,8 @@ def update(self, active, v_ego, angle_steers, angle_rate, steer_override, CP, VM
     if v_ego < 0.3 or not active:
       output_steer = 0.0
       self.pid.reset()
+      self.dampened_angle_steers = angle_steers
+      self.dampened_desired_angle = angle_steers
     else:
       projected_desired_angle = interp(sec_since_boot() + self.desired_projection, path_plan.mpcTimes, path_plan.mpcAngles)
       self.dampened_desired_angle = (((self.desired_smoothing - 1.) * self.dampened_desired_angle) + projected_desired_angle) / self.desired_smoothing