WIP: angle control torque issue 3

commaai · Dec 24, 2024 · 3593973 · 3593973
1 parent bc69d34
commit 3593973
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py
@@ -104,7 +104,7 @@ def update(self, CC, CS, now_nanos):
     if 0 <= self.driver_steering_angle_above_timer < 150:
       self.lkas_max_torque = int(round(self.lkas_max_torque * (self.driver_steering_angle_above_timer / 150) * ego_weight))
     else:
-      self.lkas_max_torque = lkas_max_torque * ego_weight
+      self.lkas_max_torque = self.lkas_max_torque * ego_weight
 
     if not CC.latActive:
       apply_steer = 0