No double work

selfdrive/controls/lib/longitudinal_planner.py

@@ -162,9 +162,9 @@ class LongitudinalPlanner:
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    output_a_target_e2e, output_should_stop_e2e = get_accel_from_plan(np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].velocity.x),
-                                                                      np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].acceleration.x),
-                                                                      action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
     if self.mode == 'acc':
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc