From 6934e295f43077d0f1981c40077d2cdfe9d79cfa Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Sun, 22 Mar 2020 13:20:18 +1000 Subject: [PATCH] minor changes --- selfdrive/controls/lib/long_mpc.py | 1 + selfdrive/controls/lib/longcontrol.py | 2 +- selfdrive/controls/lib/pathplanner.py | 3 +++ 3 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py index 35cfde668..c5e02ab3e 100644 --- a/selfdrive/controls/lib/long_mpc.py +++ b/selfdrive/controls/lib/long_mpc.py @@ -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 diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 80675a2d6..01eb8d258 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -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. diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 887270ae4..648ab9c06 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -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, }, }