From 04112f955725654f0a96e6041f18db4b23f89eff Mon Sep 17 00:00:00 2001 From: Taylor Hoshino Date: Tue, 17 Dec 2024 12:25:01 +0900 Subject: [PATCH] Don't update torque params when steer type is angle --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 64be4340816262..6f45ba86c751ba 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -74,7 +74,7 @@ def state_control(self): self.VM.update_params(x, sr) # Update Torque Params - if self.CP.lateralTuning.which() == 'torque': + if self.CP.lateralTuning.which() == 'torque' and self.CP.steerControlType != car.CarParams.SteerControlType.angle: torque_params = self.sm['liveTorqueParameters'] if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams: self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,