brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-05-04 00:38:43 -05:00
parent 5a5904e2c5
commit f3cdd57b41
2 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
selfdrive/frogpilot/controls/lib/frogpilot_functions.py
View File

@@ -33,7 +33,12 @@ def calculate_lane_width(lane, current_lane, road_edge):
def calculate_road_curvature(modelData, v_ego):
predicted_velocities = np.array(modelData.velocity.x)
# clearpilot fix
# /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:36: RuntimeWarning: divide by zero encountered in divide
# curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
# /data/openpilot/openpilot/selfdrive/frogpilot/controls/lib/frogpilot_functions.py:37: RuntimeWarning: invalid value encountered in multiply
# return np.amax(curvature_ratios * (v_ego**2))
return np.amax(curvature_ratios * (v_ego**2))
class MovingAverageCalculator: