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Improve style in drive_helpers (#23962)

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faw-hongqi-hs5
Gregor Kikelj 4 years ago committed by GitHub
parent f1aab78d08
commit 08c2d066cf
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1 changed files with 4 additions and 4 deletions
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  1. 8
      selfdrive/controls/lib/drive_helpers.py

8
selfdrive/controls/lib/drive_helpers.py
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@ -54,7 +54,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
long_press = False long_press = False
button_type = None button_type = None
v_cruise_delta = 1 if metric else 1.6 v_cruise_delta = 1. if metric else CV.MPH_TO_KPH
for b in buttonEvents: for b in buttonEvents:
if b.type.raw in button_timers and not b.pressed: if b.type.raw in button_timers and not b.pressed:
@ -91,9 +91,9 @@ def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
if len(psis) != CONTROL_N: if len(psis) != CONTROL_N:
psis = [0.0 for i in range(CONTROL_N)] psis = [0.0]*CONTROL_N
curvatures = [0.0 for i in range(CONTROL_N)] curvatures = [0.0]*CONTROL_N
curvature_rates = [0.0 for i in range(CONTROL_N)] curvature_rates = [0.0]*CONTROL_N
# TODO this needs more thought, use .2s extra for now to estimate other delays # TODO this needs more thought, use .2s extra for now to estimate other delays
delay = CP.steerActuatorDelay + .2 delay = CP.steerActuatorDelay + .2

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