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firestar5683
e4f3d6661c
Implement acceleration profiles, FollowJerk, force-stop and lead-departure owners. Keep selected acceleration limits and hazard arbitration explicit at their shared boundaries. Co-authored-by: whoisdomi <dcantu83@gmail.com>
11 lines
387 B
Python
11 lines
387 B
Python
"""Fixed shared ceiling for the final longitudinal control output."""
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# Retained identifier only for refusing obsolete edits and preserving saved bytes.
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KEY = "LongitudinalMaxOutputAcceleration"
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DEFAULT = 4.0
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def final_output(acceleration: float) -> float:
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"""Cap the returned command without changing controller state or lower limits."""
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return float(min(acceleration, DEFAULT))
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