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only vCruise changes here

This commit is contained in:
Shane Smiskol 2024-09-16 15:33:52 -07:00
parent aa3fe09184
commit 4f5659b5d5
1 changed files with 1 additions and 4 deletions
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5
selfdrive/controls/lib/longitudinal_planner.py
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@ -13,7 +13,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
from openpilot.common.swaglog import cloudlog
LON_MPC_STEP = 0.2 # first step is 0.2s
@ -101,15 +101,12 @@ class LongitudinalPlanner:
v_ego = sm['carState'].vEgo
v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
force_slow_decel = sm['controlsState'].forceDecel
# Reset current state when not engaged, or user is controlling the speed
reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
# some PCM messages may be updated a few cycles later, check if initialized
reset_state = reset_state or not v_cruise_initialized
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)