mawei
/
edge
mirror of https://github.com/SusanYu25/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Only use Model data if driving a Ford

This commit is contained in:
alan-polk 2024-10-16 12:13:33 -05:00 committed by GitHub
parent 560afa7ed0
commit 4db0d72fed
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
selfdrive/car/interfaces.py
View File

@ -261,7 +261,10 @@ class CarInterfaceBase(ABC):
return self.lat_torque_nn_model is not None and self.param_s.get_bool("NNFF")
def apply(self, c: car.CarControl, now_nanos: int, model_data=None) -> tuple[car.CarControl.Actuators, list[SendCan]]:
return self.CC.update(c, self.CS, now_nanos, model_data=model_data)
if self.CP.carName == "ford":
return self.CC.update(c, self.CS, now_nanos, model_data=model_data)
else:
return self.CC.update(c, self.CS, now_nanos)
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):