set y too (#2448)

* set y too * new ref old-commit-hash: e6668625fa8c0dec0277a87ce3d5bfad4a1a55a6
2020-11-04 19:52:05 -08:00
parent 435d16ab87
commit fcb995e19c
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -43,6 +43,7 @@ DESIRES = {
 def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
  states[0].x = v_ego * delay
  states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
+  states[0].y = states[0].x * math.sin(states[0].psi / 2)
  return states


--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-635052c6f021001fd11ec68ad0f6ee1811ee4a76
+804ee1ffcfa0639782f1322874d89f0c8c412c50