From 3593973ccb7b22e36224135645ccc73b479d8543 Mon Sep 17 00:00:00 2001 From: Taylor Starfield Date: Tue, 24 Dec 2024 21:24:48 +0900 Subject: [PATCH] WIP: angle control torque issue 3 --- opendbc/car/hyundai/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc/car/hyundai/carcontroller.py b/opendbc/car/hyundai/carcontroller.py index 5d179383e8..707a23257b 100644 --- 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