Longcontrol: faster transition from starting to stopping (#26361)

* Never command accel when stopping * Update ref_commit old-commit-hash: a7ced7c54b86107cb4095423158e28398aa62143
2022-11-04 13:21:34 -07:00
parent 9bf67df9cf
commit e20020053d
2 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -103,6 +103,7 @@ class LongControl:

    elif self.long_control_state == LongCtrlState.stopping:
      if output_accel > self.CP.stopAccel:
+        output_accel = min(output_accel, 0.0)
        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
      self.reset(CS.vEgo)

--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2ba23c5d1c4e0c34295d38f31ed35e3482608b16
+89641653a0fc765105dc1c6a2a995cba2fb3f344