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21ecfec49..d83c90a6b 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 848352b71..822aee42e 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 428ab76c4..fa93dfb97 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 7392b16f9..5dc23822a 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index a7bead8fa..78271ffae 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 6b92f449b..cec4e5e8c 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 6b7effeba..3f9e2b868 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-34fe9e8a-DEBUG \ No newline at end of file +DEV-6099e109-DEBUG \ No newline at end of file diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 421b70da7..4566e307e 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -497,10 +497,9 @@ class LongitudinalMpc: a_lead = 0.0 a_lead_tau = LEAD_ACCEL_TAU - # MPC will not converge if immediate crash is expected - # Clip lead distance using the currently active vehicle decel capability. - min_decel = min(float(self.cruise_min_a), -0.1) - min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-min_decel * 2) + # MPC will not converge if immediate crash is expected. + # Bound this by physical hard-brake capability, not cruise comfort decel. + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2) x_lead = np.clip(x_lead, min_x_lead, 1e8) v_lead = np.clip(v_lead, 0.0, 1e8) a_lead = np.clip(a_lead, -10., 5.) @@ -534,7 +533,7 @@ class LongitudinalMpc: lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) - self.params[:,0] = self.cruise_min_a + self.params[:,0] = ACCEL_MIN self.params[:,1] = max(0.0, self.max_a) # Update in ACC mode or ACC/e2e blend