From c75ec3440b0dd54698178a6e34ac0348ac79c646 Mon Sep 17 00:00:00 2001 From: Ross Fisher Date: Fri, 24 May 2019 10:16:04 -0400 Subject: [PATCH] Update latcontrol_indi.py --- selfdrive/controls/lib/latcontrol_indi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index 83a619ffc69ced..3b25622acf0d46 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -93,7 +93,7 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, self.output_steer = 0.0 self.delayed_output = 0.0 else: - self.angle_steers_des = path_plan.angleSteers + self.angle_steers_des = path_plan.angleSteers / (interp(abs(path_plan.angleSteers), [0,10], [1.0, 1.2])) self.rate_steers_des = path_plan.rateSteers if abs(angle_steers) < 3: