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reset state (mpc weight) when mode changed

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This commit is contained in:
Rick Lan
2024-06-23 21:51:02 +08:00
parent 2e79a63651
commit 058fab6da2
1 changed files with 6 additions and 1 deletions
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7
selfdrive/controls/lib/longitudinal_planner.py
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@@ -116,12 +116,13 @@ class LongitudinalPlanner:
if self._dynamic_endtoend_controller.is_enabled():
self._dynamic_endtoend_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.mpc.mode = self._dynamic_endtoend_controller.get_mpc_mode(self.CP.radarUnavailable,
self._dynamic_endtoend_controller.update(self.CP.radarUnavailable,
sm['carState'],
sm['radarState'].leadOne,
sm['modelV2'],
sm['controlsState']
) #, sm['navInstruction'].maneuverDistance)
self.mpc.mode = self._dynamic_endtoend_controller.get_mpc_mode()
else:
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
@@ -135,6 +136,10 @@ class LongitudinalPlanner:
# Reset current state when not engaged, or user is controlling the speed
reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
# dp
if not reset_state:
reset_state = self._dynamic_endtoend_controller.has_changed()
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)