From 9eba294025c646422265ef823401479839bd4067 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 Sep 2022 21:02:05 -0700 Subject: [PATCH] don't need error rate for now --- selfdrive/car/ford/carcontroller.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index e3db08c42f99733..b5b4c3ad5391644 100644 --- 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)