mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-04 07:13:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update longcontrol.py revert special starting state logic

Browse Source
This commit is contained in:
infiniteCable2
2025-08-12 17:54:01 +02:00
committed by GitHub
parent 5ea357289b
commit 08dfbe5c24
1 changed files with 2 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longcontrol.py
+2 -11
View File
@@ -76,17 +76,8 @@ class LongControl:
self.reset()
elif self.long_control_state == LongCtrlState.starting:
if self.CP.useCarBrakeHoldState:
if CS.brakeHoldConfirmation:
output_accel = self.CP.startAccel
self.reset()
else:
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
else:
output_accel = self.CP.startAccel
self.reset()
output_accel = self.CP.startAccel
self.reset()
else: # LongCtrlState.pid
error = a_target - CS.aEgo