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tomb_raider
Bruce Wayne 1 month ago
parent 9697566414
commit ae296df5de
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/controls/lib/longitudinal_planner.py

4
selfdrive/controls/lib/longitudinal_planner.py
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@ -179,8 +179,8 @@ class LongitudinalPlanner:
action_t = self.CP.longitudinalActuatorDelay + DT_MDL action_t = self.CP.longitudinalActuatorDelay + DT_MDL
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
action_t=action_t, vEgoStopping=self.CP.vEgoStopping) action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
output_a_target_e2e, output_should_stop_e2e = get_accel_from_plan(np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, model_msg.velocity.x), output_a_target_e2e, output_should_stop_e2e = get_accel_from_plan(np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].velocity.x),
np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, model_msg.acceleration.x), np.interp(CONTROL_N_T_IDX, ModelConstants.T_IDXS, sm['modelV2'].acceleration.x),
action_t=action_t, vEgoStopping=self.CP.vEgoStopping) action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
if self.mode == 'acc': if self.mode == 'acc':
output_a_target = output_a_target_mpc output_a_target = output_a_target_mpc

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