only return desired curvature

dragonpilot-community · Jul 22, 2024 · af24280 · af24280
1 parent bbcb87f
commit af24280
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -639,7 +639,7 @@ def state_control(self, CS):
 
       # dp - lane line priority mode
       if self._dp_lat_lane_priority_mode and self.sm['lateralPlan'].useLaneLines:
-        self.desired_curvature, _ = get_lag_adjusted_curvature(self.CP, CS.vEgo, self.sm['lateralPlan'].psis, self.sm['lateralPlan'].curvatures)
+        self.desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, self.sm['lateralPlan'].psis, self.sm['lateralPlan'].curvatures)
       else:
         # Steering PID loop and lateral MPC
         self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)