use model aLead in MPC (#34598)

* use model aLead in MPC * update
2 months ago · d2c0bcf7b9
parent fc77ac706e
commit d2c0bcf7b9
2 changed files with 2 additions and 2 deletions
--- 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),
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-b8595cc8351043a7c49b41e7c36f93ffd2e3dc6d
+8ecdfeb36e20e43a82e1ff7bec2c2f389e5d0723