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controlsd: save lat_plan.dPathPoints to local variable (#23462)

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Dean Lee
2022-01-10 18:27:31 +08:00
committed by GitHub
parent b2beb5e6ba
commit 2d08f8b318
1 changed files with 4 additions and 3 deletions
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7
selfdrive/controls/controlsd.py
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@@ -537,11 +537,12 @@ class Controls:
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
if len(lat_plan.dPathPoints):
dpath_points = lat_plan.dPathPoints
if len(dpath_points):
# Check if we deviated from the path
# TODO use desired vs actual curvature
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.20
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.20
left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)