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Driving Personality: Use `controlsStateSP` properly

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Jason Wen 2024-07-01 15:42:29 -04:00
parent 86446a8e42
commit de8da6f41f
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3 changed files with 5 additions and 3 deletions
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2
CHANGELOGS.md
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@ -15,6 +15,8 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
* NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
* Re-tuned and tested by the community (July 1, 2024)
* FIXED: Driving Personality:
* Maniac mode now correctly enforced when selected
* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
sunnypilot - 0.9.7.1 (2024-06-13)

4
selfdrive/controls/lib/longitudinal_planner.py
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@ -174,11 +174,11 @@ class LongitudinalPlanner:
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality)
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)

2
selfdrive/controls/plannerd.py
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@ -35,7 +35,7 @@ def plannerd_thread():
pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
'liveMapDataSP', 'e2eLongStateSP'] + lateral_planner_svs,
'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
poll='modelV2', ignore_avg_freq=['radarState'])
while True: