merge fix

jonnyapp1eseed · Apr 9, 2019 · 166a0b0 · 166a0b0
2 parents 2607a20 + dc90f37
commit 166a0b0
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -25,6 +25,11 @@ def __init__(self, CP):
     self.angle_steers_noise = _NOISE_THRESHOLD
     self.angle_ff_bp = [[0.5, 5.0],[0.0, 1.0]]
 
+    # TODO: add the feedforward parameters to LiveParameters
+    self.angle_ff_gain = 1.0
+    self.rate_ff_gain = 0.02
+    self.angle_ff_bp = [[0.5, 5.0],[0.0, 1.0]]
+
   def reset(self):
     self.pid.reset()