Merge pull request commaai#137 from zorrobyte/stable_VSR

Update latcontrol_indi.py
jonnyapp1eseed · May 24, 2019 · 3e017d4 · 3e017d4
2 parents e585ac9 + c75ec34
commit 3e017d4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
@@ -93,7 +93,7 @@ def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override,
       self.output_steer = 0.0
       self.delayed_output = 0.0
     else:
-      self.angle_steers_des = path_plan.angleSteers
+      self.angle_steers_des = path_plan.angleSteers / (interp(abs(path_plan.angleSteers), [0,10], [1.0, 1.2]))
       self.rate_steers_des = path_plan.rateSteers
 
       if abs(angle_steers) < 3: