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Disable use of navInstruction for now

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This commit is contained in:
Rick Lan
2024-06-13 19:59:17 +08:00
parent 84375ad05c
commit f6095ef8e2
2 changed files with 7 additions and 2 deletions
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2
dp_ext

Submodule dp_ext updated: 4a706ef132...22edb00adc

7
selfdrive/controls/lib/longitudinal_planner.py
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@@ -93,7 +93,12 @@ 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, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
self.mpc.mode = self._dynamic_endtoend_controller.get_mpc_mode(self.CP.radarUnavailable,
sm['carState'],
sm['radarState'].leadOne,
sm['modelV2'],
sm['controlsState']
) #, sm['navInstruction'].maneuverDistance)
else:
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'