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Add angleError to pid_log (#21611)

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* add angleError

* Log all the time

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 21fad4d1ad
This commit is contained in:
grekiki
2021-09-01 22:45:22 +02:00
committed by GitHub
parent ae5c6aeae6
commit afe4df11dd
2 changed files with 2 additions and 1 deletions
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1
selfdrive/controls/lib/latcontrol_pid.py
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@@ -23,6 +23,7 @@ class LatControlPID():
angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
if CS.vEgo < 0.3 or not active:
output_steer = 0.0
pid_log.active = False

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
37dce56a5b925dca119dd623d8a69cd4c7b7356d
f3e220d82db802c653777634228ce57576ac7aad