making latcontrol_pid.py not only for Tesla

rafcabezas · Apr 24, 2020 · 1c9de65 · 1c9de65
1 parent 18dbf4c
commit 1c9de65
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
@@ -48,4 +48,7 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, ste
 
 
     # we only deal with Tesla, so we return two angles, no torque info
-    return float(self.angle_steers_des), path_plan.angleSteers, pid_log
+    if CP.carName == "tesla":
+      return float(self.angle_steers_des), path_plan.angleSteers, pid_log
+    else:
+      return output_steer, float(self.angle_steers_des), pid_log