From b19b5fdb98eb86096ed880251a742a5b0fe77028 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 6 Dec 2021 23:10:16 -0800 Subject: [PATCH] long planner: no reset when starting (#23149) * long planner: no reset when starting * let go to 2m/s * update ref old-commit-hash: 77a99e7d6dc021a69078f21923ad0fa2fae1a278 --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 351a15186d..e75e84da13 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -255,7 +255,7 @@ class LongitudinalMpc(): self.solver.cost_set(i, 'Zl', Zl) def set_cur_state(self, v, a): - if abs(self.x0[1] - v) > 1.: + if abs(self.x0[1] - v) > 2.: self.x0[1] = v self.x0[2] = a for i in range(0, N+1): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 1c1ab0e17b..41bae4c475 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -68,8 +68,7 @@ class Planner: force_slow_decel = sm['controlsState'].forceDecel prev_accel_constraint = True - enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping) - if not enabled or sm['carState'].gasPressed: + if long_control_state == LongCtrlState.off or sm['carState'].gasPressed: self.v_desired = v_ego self.a_desired = a_ego # Smoothly changing between accel trajectory is only relevant when OP is driving diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 38d5860398..debd3800cb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bcb9e414784d5ca8a4338680421023d07ef9e53 \ No newline at end of file +a64f5f3d44b2d96c5b555dd91172e5e8d760edb2 \ No newline at end of file