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controlsd: add CP_SP to get_pid_accel_limits (#1410)

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* Add CP_SP to get_pid_accel_limits() call in controlsd

Match input parameters of CP_SP commit

* bump

* bump

---------

Co-authored-by: roenthomas <43324106+roenthomas@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
THERoenPR
2025-10-28 22:13:39 -04:00
committed by GitHub
parent 55147d8a55
commit 707e2aedae
2 changed files with 2 additions and 2 deletions
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2
opendbc_repo

Submodule opendbc_repo updated: efe4ff137f...e0e1626820

2
selfdrive/controls/controlsd.py
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@@ -132,7 +132,7 @@ class Controls(ControlsExt, ModelStateBase):
self.LoC.reset()
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
# Steering PID loop and lateral MPC