long_mpc: clean up get_T_FOLLOW() usage (#29033)

2 years ago · 7a5dbe6132
parent 5cfb79e35f
commit 7a5dbe6132
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -357,7 +357,7 @@ class LongitudinalMpc:
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                 v_lower,
                                 v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW(personality))
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
      x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
      self.source = SOURCES[np.argmin(x_obstacles[0])]