diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 6b79813117..79a9ec4f0c 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -352,7 +352,7 @@ class LongitudinalMpc: x_and_cruise = np.column_stack([x, cruise_target]) x = np.min(x_and_cruise, axis=1) - self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise' + self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise' else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')