spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Wrong sign

retune_corolla
Harald Schafer 2022-03-22 10:56:27 -07:00
parent ad2b49e0cb
commit 25170b2df3
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/controls/lib/latcontrol_pid.py
View File

@ -43,7 +43,7 @@ class LatControlPID(LatControl):
deadzone = 0.0
output_steer = self.pid.update(lateral_accel_desired, lateral_accel_actual, override=CS.steeringPressed,
output_steer = self.pid.update(-lateral_accel_desired, -lateral_accel_actual, override=CS.steeringPressed,
feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
pid_log.active = True
pid_log.p = self.pid.p