mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-15 06:12:11 +08:00
Code Issues Packages Projects Releases Wiki Activity

lower model FCW + stock longitudinal threshold to -1.25m/s^2 (#23915)

Browse Source 
old-commit-hash: 37a8b09cad8a1040bb6f426e04c76da3d5364f98
This commit is contained in:
Willem Melching
2022-03-07 10:42:07 +01:00
committed by GitHub
parent dd644fcad6
commit debaf85830
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -298,7 +298,7 @@ class Controls:
self.events.add(EventName.cruiseMismatch)
# Check for FCW
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
if planner_fcw or model_fcw: