More accurate jerk limits (commaai#24755)

* More accurate jerk limits * Min is not - max For example max_curvature_rate can be negative. * reduce diff
spektor56 · Jul 1, 2022 · 0c154f5 · 0c154f5
1 parent b236a31
commit 0c154f5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -115,7 +115,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
 
   # This is the "desired rate of the setpoint" not an actual desired rate
   desired_curvature_rate = curvature_rates[0]
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature_rate = clip(desired_curvature_rate,
                                           -max_curvature_rate,
                                           max_curvature_rate)