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minor changes

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This commit is contained in:
Rick Lan
2020-03-22 13:20:18 +10:00
parent 69457e633e
commit 6934e295f4
3 changed files with 5 additions and 1 deletions
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1
selfdrive/controls/lib/long_mpc.py
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@@ -34,6 +34,7 @@ class LongitudinalMpc():
self.prev_lead_status = False
self.prev_lead_x = 0.0
self.new_lead = False
self.last_cloudlog_t = 0.0
# df from Shane Smiskol

2
selfdrive/controls/lib/longcontrol.py
View File

@@ -85,7 +85,7 @@ class LongControl():
v_ego_pid = max(v_ego, MIN_CAN_SPEED) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
if self.long_control_state == LongCtrlState.off or gas_pressed:
if self.long_control_state == LongCtrlState.off or gas_pressed or brake_pressed:
self.v_pid = v_ego_pid
self.pid.reset()
output_gb = 0.

3
selfdrive/controls/lib/pathplanner.py
View File

@@ -25,16 +25,19 @@ DESIRES = {
LaneChangeDirection.none: {
LaneChangeState.off: log.PathPlan.Desire.none,
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
},
LaneChangeDirection.left: {
LaneChangeState.off: log.PathPlan.Desire.none,
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
},
LaneChangeDirection.right: {
LaneChangeState.off: log.PathPlan.Desire.none,
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
},
}