lower model FCW + stock longitudinal threshold to -1.25m/s^2 (#23915)

3 years ago · 37a8b09cad
parent 7fc1b7dc0a
commit 37a8b09cad
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -298,7 +298,7 @@ class Controls:
        self.events.add(EventName.cruiseMismatch)

    # Check for FCW
-    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
    if planner_fcw or model_fcw: