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clean and fix

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infiniteCable2
2025-09-03 18:11:11 +02:00
parent ef61b30b89
commit c40ae3fe0a
2 changed files with 1 additions and 5 deletions
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4
opendbc/car/lateral.py
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@@ -26,10 +26,6 @@ class AngleSteeringLimits:
MAX_LATERAL_ACCEL: float = 0
MAX_LATERAL_JERK: float = 0
MAX_ANGLE_RATE: float = math.inf
@dataclass
class CurvatureSteeringLimits:
CURVATURE_MAX: float
def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):

2
opendbc/car/volkswagen/carcontroller.py
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@@ -48,7 +48,7 @@ class CarController(CarControllerBase):
self.speed_limit_last = 0
self.speed_limit_changed_timer = 0
self.VM = VehicleModel(CP)
self.LateralController = LatControlCurvature(self.CCP.CURVATURE_PID, self.CCP.CURVATURE_LIMITS.CURVATURE_MAX, 1 / (DT_CTRL * self.CCP.STEER_STEP))
self.LateralController = LatControlCurvature(self.CCP.CURVATURE_PID, self.CCP.CURVATURE_LIMITS.STEER_ANGLE_MAX, 1 / (DT_CTRL * self.CCP.STEER_STEP))
def update(self, CC, CC_SP, CS, now_nanos):
actuators = CC.actuators