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sshane · May 14, 2022 · 26bf152 · 26bf152
1 parent 25b08df
commit 26bf152
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
@@ -71,8 +71,7 @@ def update(self, active, CS, VM, params, last_actuators, desired_curvature, desi
       # convert friction into lateral accel units for feedforward
       friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
-      output_torque = self.pid.update(error,
-                                      error_rate=error_rate,
+      output_torque = self.pid.update(error, error_rate=error_rate,
                                       override=CS.steeringPressed, feedforward=ff,
                                       speed=CS.vEgo,
                                       freeze_integrator=CS.steeringRateLimited)