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Fix typo (#891)

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ShaneSmiskol authored and rbiasini committed Nov 26, 2019
1 parent 812f93a commit 84ef9d50b7545e5948209a40cfc13aa46b48e1a2
Showing with 2 additions and 2 deletions.
  1. +2 −2 selfdrive/controls/lib/latcontrol_indi.py
@@ -32,7 +32,7 @@ def __init__(self, CP):
self.A_K = A - np.dot(K, C)
self.x = np.matrix([[0.], [0.], [0.]])

self.enfore_rate_limit = CP.carName == "toyota"
self.enforce_rate_limit = CP.carName == "toyota"

self.RC = CP.lateralTuning.indi.timeConstant
self.G = CP.lateralTuning.indi.actuatorEffectiveness
@@ -81,7 +81,7 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, ste
delta_u = g_inv * accel_error

# Enforce rate limit
if self.enfore_rate_limit:
if self.enforce_rate_limit:
steer_max = float(SteerLimitParams.STEER_MAX)
new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
prev_output_steer_cmd = steer_max * self.output_steer

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