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fix.. modelTurnDelay

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ajouatom 2025-02-09 10:40:37 +09:00
parent 291127f4db
commit ec11cf85cb
1 changed files with 4 additions and 1 deletions
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5
selfdrive/controls/controlsd.py
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@ -130,7 +130,10 @@ class Controls:
if self.params.get_bool("CarrotLatControl"): if self.params.get_bool("CarrotLatControl"):
model_turn_delay = self.params.get_float("ModelTurnDelay") * 0.01 model_turn_delay = self.params.get_float("ModelTurnDelay") * 0.01
desire_state = self.sm['modelV2'].meta.desireState desire_state = self.sm['modelV2'].meta.desireState
turn_state = desire_state[1] + desire_state[2] if len(desire_state) > 0:
turn_state = desire_state[1] + desire_state[2]
else:
turn_state = 0.0
desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures, steer_actuator_delay if turn_state < 0.1 else model_turn_delay) desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures, steer_actuator_delay if turn_state < 0.1 else model_turn_delay)
self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, desired_curvature) self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, desired_curvature)
else: else: