Fix typo (#891)
parent
812f93a5a5
commit
84ef9d50b7
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@ -32,7 +32,7 @@ class LatControlINDI():
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self.A_K = A - np.dot(K, C)
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self.x = np.matrix([[0.], [0.], [0.]])
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self.enfore_rate_limit = CP.carName == "toyota"
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self.enforce_rate_limit = CP.carName == "toyota"
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self.RC = CP.lateralTuning.indi.timeConstant
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self.G = CP.lateralTuning.indi.actuatorEffectiveness
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@ -81,7 +81,7 @@ class LatControlINDI():
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delta_u = g_inv * accel_error
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# Enforce rate limit
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if self.enfore_rate_limit:
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if self.enforce_rate_limit:
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steer_max = float(SteerLimitParams.STEER_MAX)
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new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
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prev_output_steer_cmd = steer_max * self.output_steer
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