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firestar5683
2025-10-22 23:26:29 -05:00
parent 0538b6ef8c
commit 543250a0d5
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -2
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@@ -376,10 +376,10 @@ class LongitudinalMpc:
self.current_dist_adapt = get_speed_based_param(speed_mph, dist_adapt_array)
# Update filter time constants with interp and recreate filters if needed
if speed_mph < 35:
if speed_mph < 47:
self.current_filter_time = 0.0
else:
self.current_filter_time = interp(speed_mph, [35, 45], [0.0, LEAD_FILTER_TIME_HIGH])
self.current_filter_time = interp(speed_mph, [47, 65], [0.0, LEAD_FILTER_TIME_HIGH])
if abs(self.current_filter_time - getattr(self, 'prev_filter_time', 0)) > 0.1: # Only update if significant change
# Recreate filters with new time constant while preserving current values
current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0