From d2c0bcf7b9a7218395a70e86438e45bb85fbb273 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 16 Feb 2025 21:24:41 -0800 Subject: [PATCH] use model aLead in MPC (#34598) * use model aLead in MPC * update --- selfdrive/controls/radard.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index ea05c00d35..80ce10380a 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa "vRel": float(lead_v_rel_pred), "vLead": float(v_ego + lead_v_rel_pred), "vLeadK": float(v_ego + lead_v_rel_pred), - "aLeadK": 0.0, + "aLeadK": float(lead_msg.a[0]), "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1cdd551dd0..b73dfd1357 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b8595cc8351043a7c49b41e7c36f93ffd2e3dc6d +8ecdfeb36e20e43a82e1ff7bec2c2f389e5d0723 \ No newline at end of file