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NNFF

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Added toggle to enable NNFF.

Credit goes to Twilsonco!

https: //github.com/twilsonco
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent bc18137016
commit 6266c08db4
453 changed files with 778 additions and 18 deletions
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2
selfdrive/controls/lib/latcontrol_pid.py
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@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)