From 9f911725f2d7dd347a71d92a24c19f863c60daf4 Mon Sep 17 00:00:00 2001 From: ajouatom Date: Wed, 12 Feb 2025 09:24:17 +0900 Subject: [PATCH] fix torqued bug.. --- selfdrive/controls/lib/latcontrol_torque.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ea4fabb..1be8c52 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -186,7 +186,7 @@ class LatControlTorque(LatControl): actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 else: actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo - actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) + actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) curvature_deadzone = 0.0 desired_lateral_accel = desired_curvature * CS.vEgo ** 2