Increased error correction

commaai · Dec 31, 2018 · 99460c1 · 99460c1
1 parent e42d081
commit 99460c1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
@@ -30,7 +30,7 @@ def update(self, v_ego, md, LaC=None):
         else:
           angle_error = 0.0
         if angle_error != 0.0:
-          lateral_error = 0.5 * np.clip(v_ego * (LaC.steerActuatorDelay + 0.05) * math.tan(math.radians(angle_error)), -0.2, 0.2)
+          lateral_error = 1.0 * np.clip(v_ego * (LaC.steerActuatorDelay + 0.05) * math.tan(math.radians(angle_error)), -0.2, 0.2)
           lateral_error = LaC.lateral_error
         else:
           lateral_error = 0.0