From 99460c10b5edc31a8f3d4af34de28eb9ae57552b Mon Sep 17 00:00:00 2001 From: Gernby Date: Mon, 31 Dec 2018 11:10:35 -0600 Subject: [PATCH] Increased error correction --- selfdrive/controls/lib/pathplanner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index c6989155933ef3..f43e519250c192 100644 --- 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