From c40ae3fe0ade548c40d37fd27e2df49f36bcfe27 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Wed, 3 Sep 2025 18:11:11 +0200 Subject: [PATCH] clean and fix --- opendbc/car/lateral.py | 4 ---- opendbc/car/volkswagen/carcontroller.py | 2 +- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/opendbc/car/lateral.py b/opendbc/car/lateral.py index 847d61aa..51aae0aa 100644 --- a/opendbc/car/lateral.py +++ b/opendbc/car/lateral.py @@ -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): diff --git a/opendbc/car/volkswagen/carcontroller.py b/opendbc/car/volkswagen/carcontroller.py index fd4367ed..dd3394c9 100644 --- a/opendbc/car/volkswagen/carcontroller.py +++ b/opendbc/car/volkswagen/carcontroller.py @@ -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