fix low speed override bug and cut-in bug (#21593)

* fix low speed bug and cutin bug * update ref old-commit-hash: 6a93346729
4 years ago · 8fdfa3b97d
parent 7595ad4d28
commit 8fdfa3b97d
2 changed files with 3 additions and 3 deletions
--- a/selfdrive/controls/lib/lead_mpc.py
+++ b/selfdrive/controls/lib/lead_mpc.py
@ -47,8 +47,8 @@ class LeadMpc():
    if self.lead_id == 0:
      lead = radarstate.leadOne
    else:
-      lead = radarstate.leadOne
-    self.status = lead.status and lead.modelProb > .5
+      lead = radarstate.leadTwo
+    self.status = lead.status

    # Setup current mpc state
    self.cur_state[0].x_ego = 0.0
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-c615f63b3d38d9a15375890b64e0c45ae59bf7a1
+5d8ade78ab7b2aa678a8025eba58477579db71ad