Controlsd: fix bug in curv rate limit (#23250)

* Controlsd: fix bug in curv rate limit * update ref
commaai · Jan 4, 2022 · d3f064f · d3f064f · chanhojung · Jan 16, 2022
1 parent 15be8a8
commit d3f064f
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -119,6 +119,6 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
                                           -max_curvature_rate,
                                           max_curvature_rate)
   safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature - max_curvature_rate/DT_MDL,
-                                     current_curvature + max_curvature_rate/DT_MDL)
+                                     current_curvature - max_curvature_rate * DT_MDL,
+                                     current_curvature + max_curvature_rate * DT_MDL)
   return safe_desired_curvature, safe_desired_curvature_rate
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-67534ae58a87b6993a0a9653d255e629785a07c3
+e0ac3ca09baaf0d791d0e7734799bb297ad91f79