From 7d5a2309a7a32deae30ea3438534184e12e20c91 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 21 Nov 2022 15:25:23 -0800 Subject: [PATCH] long_mpc: fix e2e source condition (#26546) * fix long_mpc source param * rm print * add back space for formatting old-commit-hash: ded66e6307825d9327c12145e1bc6acd2e835346 --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 6b7981311..79a9ec4f0 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -352,7 +352,7 @@ class LongitudinalMpc: x_and_cruise = np.column_stack([x, cruise_target]) x = np.min(x_and_cruise, axis=1) - self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise' + self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise' else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')