From 37a8b09cad8a1040bb6f426e04c76da3d5364f98 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 7 Mar 2022 10:42:07 +0100 Subject: [PATCH] lower model FCW + stock longitudinal threshold to -1.25m/s^2 (#23915) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d9c06c53ea..7887c2428b 100755 --- 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: