mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 03:22:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Slow takeoff possible fix

Browse Source
This commit is contained in:
whoisdomi
2026-04-28 07:48:56 -05:00
parent b9c5a78d16
commit 609ba6cf63
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_planner.py
+2 -2
View File
@@ -26,7 +26,7 @@ ALLOW_THROTTLE_THRESHOLD = 0.4
ALLOW_THROTTLE_HYSTERESIS = 0.05
ALLOW_THROTTLE_ENABLE_THRESHOLD = ALLOW_THROTTLE_THRESHOLD + ALLOW_THROTTLE_HYSTERESIS
ALLOW_THROTTLE_DISABLE_THRESHOLD = ALLOW_THROTTLE_THRESHOLD - ALLOW_THROTTLE_HYSTERESIS
MIN_ALLOW_THROTTLE_SPEED = 2.5
MIN_ALLOW_THROTTLE_SPEED = 5.0
RAW_LEAD_SAFETY_MIN_CLOSING_SPEED = 0.5
RAW_LEAD_SAFETY_TTC = 7.0
RAW_LEAD_SAFETY_DISTANCE = 40.0
@@ -809,7 +809,7 @@ class LongitudinalPlanner:
longitudinalPlan.fcw = self.fcw
longitudinalPlan.aTarget = float(self.output_a_target)
longitudinalPlan.shouldStop = bool(self.output_should_stop) or sm['starpilotPlan'].forcingStopLength < 1
longitudinalPlan.shouldStop = bool(self.output_should_stop) or (sm['starpilotPlan'].forcingStop and sm['starpilotPlan'].forcingStopLength < 1)
longitudinalPlan.allowBrake = True
longitudinalPlan.allowThrottle = bool(self.allow_throttle)