From e20020053dd437b5a3a0342be8e2e3677842c7db Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 4 Nov 2022 13:21:34 -0700 Subject: [PATCH] Longcontrol: faster transition from starting to stopping (#26361) * Never command accel when stopping * Update ref_commit old-commit-hash: a7ced7c54b86107cb4095423158e28398aa62143 --- selfdrive/controls/lib/longcontrol.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index db5bf4d3e..92a4f1f99 100644 --- 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) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 40f3c522d..a0cfd2201 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ba23c5d1c4e0c34295d38f31ed35e3482608b16 \ No newline at end of file +89641653a0fc765105dc1c6a2a995cba2fb3f344