Merge pull request #13 from commaai/controller-history

Start the controller update before actually using the outputs
commaai · May 22, 2024 · a615066 · a615066
2 parents c319dcd + fb71c75
commit a615066
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/tinyphysics.py b/tinyphysics.py
@@ -129,9 +129,8 @@ def sim_step(self, step_idx: int) -> None:
     self.current_lataccel_history.append(self.current_lataccel)
 
   def control_step(self, step_idx: int) -> None:
-    if step_idx >= CONTROL_START_IDX:
-      action = self.controller.update(self.target_lataccel_history[step_idx], self.current_lataccel, self.state_history[step_idx])
-    else:
+    action = self.controller.update(self.target_lataccel_history[step_idx], self.current_lataccel, self.state_history[step_idx])
+    if step_idx < CONTROL_START_IDX:
       action = self.data['steer_command'].values[step_idx]
     action = np.clip(action, STEER_RANGE[0], STEER_RANGE[1])
     self.action_history.append(action)