From 707e2aedae4ddc872c609df1ae7c9e3f1e8738cd Mon Sep 17 00:00:00 2001 From: THERoenPR Date: Tue, 28 Oct 2025 22:13:39 -0400 Subject: [PATCH] controlsd: add `CP_SP` to `get_pid_accel_limits` (#1410) * 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 --- opendbc_repo | 2 +- selfdrive/controls/controlsd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index efe4ff137f..e0e1626820 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit efe4ff137f839bbd416ac8ff8f5b78550a7d6eec +Subproject commit e0e1626820d6a18a984ae69eebc012180699d41c diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1694afee23..b381879a7a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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