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joystick mode: add curvature control (#30010)

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* Added curvature controls to joystick mode

* same line

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
coffee-cake-isaac
2023-09-23 00:53:31 -04:00
committed by GitHub
parent 2ebf0b186e
commit c43325fa17
1 changed files with 2 additions and 2 deletions
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4
selfdrive/controls/controlsd.py
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@@ -629,8 +629,8 @@ class Controls:
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
# max angle is 45 for angle-based cars
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
# max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
lac_log.active = self.active
lac_log.steeringAngleDeg = CS.steeringAngleDeg