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Fix blended ACC

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MoreTore
2024-09-25 08:48:20 -05:00
parent 126b2b0ed3
commit f8398dc438
2 changed files with 7 additions and 7 deletions
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selfdrive/car/mazda/carcontroller.py
+6 -6
View File
@@ -86,12 +86,12 @@ class CarController(CarControllerBase):
raw_acc_output = max(-1000, min(raw_acc_output, 1000))
if self.params.get_bool("BlendedACC"):
if self.params.get_bool("ExperimentalMode"):
self.acc_filter.update_alpha(abs(raw_acc_output-self.filtered_acc_last)/100)
if self.params.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.crz_info["ACCEL_CMD"]-self.filtered_acc_last)/100)
self.acc_filter.update_alpha(abs(CS.crz_info["ACCEL_CMD"]-self.filtered_acc_last)/1000)
filtered_acc_output = int(self.acc_filter.update(CS.crz_info["ACCEL_CMD"]))
CS.crz_info["ACCEL_CMD"] = int(filtered_acc_output)
@@ -105,12 +105,12 @@ class CarController(CarControllerBase):
else:
raw_acc_output = (CC.actuators.accel * 240) + 2000
if self.params.get_bool("BlendedACC"):
if self.params.get_bool("ExperimentalMode"):
self.acc_filter.update_alpha(abs(raw_acc_output-self.filtered_acc_last)/100)
if self.params.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)/100)
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"]))
acc_output = filtered_acc_output
selfdrive/controls/lib/longcontrol.py
+1 -1
View File
@@ -114,7 +114,7 @@ class LongControl:
should_stop, CS.brakePressed,
CS.cruiseState.standstill)
if self.params.get_bool("BlendedACC"):
experimental_mode = self.params.get_bool("ExperimentalMode")
experimental_mode = self.params.get_int("CEStatus") # 0 means expereimental mode is off
if experimental_mode and not self.experimental_mode_last:
self.reset()
self.experimental_mode_last = experimental_mode