fix max speed comments

4 years ago · 44adea73ce
parent e4caaeb2d3
commit 44adea73ce
2 changed files with 6 additions and 7 deletions
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -14,9 +14,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName

-# WARNING: this value was determined based on the model's training distribution,
-#          model predictions above this speed can be unpredictable
-MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
+MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5

--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -5,10 +5,11 @@ from common.realtime import DT_MDL
 from selfdrive.config import Conversions as CV
 from selfdrive.modeld.constants import T_IDXS

-# kph
-V_CRUISE_MAX = 145
-V_CRUISE_MIN = 8
-V_CRUISE_ENABLE_MIN = 40
+# WARNING: this value was determined based on the model's training distribution,
+#          model predictions above this speed can be unpredictable
+V_CRUISE_MAX = 145  # kph
+V_CRUISE_MIN = 8  # kph
+V_CRUISE_ENABLE_MIN = 40  # kph

 LAT_MPC_N = 16
 LON_MPC_N = 32