From 508dc5742c3ee60167b8d143f30844ab13030d33 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 13 Sep 2019 17:01:54 -0700 Subject: [PATCH 1/2] Revert dPoly computation to 0.6.3 behavior (#809) * Revert dPoly computation to 0.6.3 behavior * update test reference --- selfdrive/controls/lib/lane_planner.py | 2 +- selfdrive/test/tests/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 9363631e4..38c39416d 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width): path_from_right_lane = r_poly.copy() path_from_right_lane[3] += lane_width / 2.0 - lr_prob = l_prob * r_prob + lr_prob = l_prob + r_prob - l_prob * r_prob d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001) return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly diff --git a/selfdrive/test/tests/process_replay/ref_commit b/selfdrive/test/tests/process_replay/ref_commit index 3744386a8..94457fe32 100644 --- a/selfdrive/test/tests/process_replay/ref_commit +++ b/selfdrive/test/tests/process_replay/ref_commit @@ -1 +1 @@ -8a11bcbc9833e154e10b59a8babb2b4545372f56 \ No newline at end of file +9124fa5837ead9b74d97aef85897478a5e8b92d2 \ No newline at end of file From 068a48176969e71ec09c3b3f14d4c4f4201926e7 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Sat, 14 Sep 2019 18:16:45 +1000 Subject: [PATCH 2/2] Fix incorrect light_stalk assignment --- selfdrive/car/toyota/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 5d44651d1..570cde7ed 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -71,7 +71,7 @@ def get_can_parser(CP): ] else: signals += [ - ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0), + ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), ("GAS_PEDAL", "GAS_PEDAL", 0), ] checks += [