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longitudinal_planner: allow for zero actuator delay (#33855)

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Allow zero actuator delay
This commit is contained in:
Kacper Rączy
2024-10-22 20:49:10 -07:00
committed by GitHub
parent cf420ed001
commit 0ff498cc83
1 changed files with 4 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+4 -1
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@@ -56,7 +56,10 @@ def get_accel_from_plan(CP, speeds, accels):
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
if v_target != v_target_now:
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
else:
a_target = a_target_now
v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
else: