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fix blended acc

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MoreTore
2025-06-15 09:12:05 -05:00
parent aab10666dd
commit dad2e790db
1 changed files with 18 additions and 15 deletions
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selfdrive/car/mazda/carcontroller.py
+18 -15
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@@ -106,23 +106,26 @@ class CarController(CarControllerBase):
can_sends.extend(mazdacan.create_radar_command(self.packer, self.frame, CC.longActive, CS, hold))
else:
raw_acc_output = (CC.actuators.accel * 2400) + 2000
if self.params.get_bool("BlendedACC"):
if self.params_memory.get_int("CEStatus"):
self.acc_filter.update_alpha(abs(raw_acc_output-self.filtered_acc_last)/1000)
filtered_acc_output = int(self.acc_filter.update(raw_acc_output))
else:
# we want to use the stock value in this case but we need a smooth transition.
self.acc_filter.update_alpha(abs(CS.acc["ACCEL_CMD"]-self.filtered_acc_last)/1000)
filtered_acc_output = int(self.acc_filter.update(CS.acc["ACCEL_CMD"]))
raw_acc_output = (CC.actuators.accel * 200) + 2000
if CC.longActive:
if self.params.get_bool("BlendedACC"):
if not self.long_active_last:
# reset the filter when we start ACC
self.acc_filter.initialized = False
acc_output = filtered_acc_output
self.filtered_acc_last = filtered_acc_output
else:
acc_output = raw_acc_output
if self.params_memory.get_int("CEStatus"):
self.acc_filter.update_alpha(abs(raw_acc_output-self.filtered_acc_last)/1000)
filtered_acc_output = int(self.acc_filter.update(raw_acc_output))
else:
# we want to use the stock value in this case but we need a smooth transition.
self.acc_filter.update_alpha(abs(CS.acc["ACCEL_CMD"]-self.filtered_acc_last)/1000)
filtered_acc_output = int(self.acc_filter.update(CS.acc["ACCEL_CMD"]))
if self.params.get_bool("ExperimentalLongitudinalEnabled") and CC.longActive:
CS.acc["ACCEL_CMD"] = acc_output
acc_output = filtered_acc_output
self.filtered_acc_last = filtered_acc_output
if self.params.get_bool("ExperimentalLongitudinalEnabled"):
CS.acc["ACCEL_CMD"] = acc_output
resume = False
hold = False