don't need error rate for now

commaai · Sep 9, 2022 · 9eba294 · 9eba294
1 parent fa75794
commit 9eba294
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
@@ -31,7 +31,6 @@ def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
     self.frame = 0
 
-    self.angle_error_last = 0.
     self.apply_angle_last = 0
     self.main_on_last = False
     self.lkas_enabled_last = False
@@ -78,10 +77,8 @@ def update(self, CC, CS):
       angle_error = CS.out.steeringAngleDeg - actuators.steeringAngleDeg
 
       if CC.latActive:
-        angle_error_rate = angle_error - self.angle_error_last
-        self.angle_error_last = angle_error
         new_steer = actuators.steeringAngleDeg
-        new_steer += self.pid.update(angle_error, angle_error_rate, CS.out.vEgo, CS.out.steeringPressed)
+        new_steer += self.pid.update(angle_error, speed=CS.out.vEgo, override=CS.out.steeringPressed)
 
         lca_rq = 1
         apply_angle = apply_ford_steer_angle_limits(new_steer, self.apply_angle_last, CS.out.vEgo)