From 897331755b842a6abb90abf8a9a0bf0004ad18c8 Mon Sep 17 00:00:00 2001 From: T3vl <80123588+tealtwo@users.noreply.github.com> Date: Mon, 2 Feb 2026 16:02:03 -0600 Subject: [PATCH] cleanup --- opendbc_repo/opendbc/car/bmw/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo/opendbc/car/bmw/carcontroller.py b/opendbc_repo/opendbc/car/bmw/carcontroller.py index e5dd5ce1d2..c2bafed272 100644 --- a/opendbc_repo/opendbc/car/bmw/carcontroller.py +++ b/opendbc_repo/opendbc/car/bmw/carcontroller.py @@ -165,7 +165,7 @@ def cruise_cmd(cmd, hold=False): if self.flags & BmwFlags.STEPPER_SERVO_CAN: steer_active = CC.latActive and CC.enabled if steer_active: - feedforward = calc_steering_torque_hold(actuators.steeringAngleDeg, CS.out.vEgo) + feedforward = 0.0 # calc_steering_torque_hold(actuators.steeringAngleDeg, CS.out.vEgo) apply_steer = feedforward + (actuators.torque * CarControllerParams.STEER_MAX) apply_steer = np.clip(apply_steer, -CarControllerParams.STEER_MAX, CarControllerParams.STEER_MAX) can_sends.append(bmwcan.create_steer_command(self.frame, SteeringModes.TorqueControl, apply_steer))