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longitudinal_planner: use output_a_target in update_targets (align with upstream #38653 rework)

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Comma Device
2026-08-20 14:40:12 +08:00
parent 9e87d8134b
commit 1ec7c65758
1 changed files with 2 additions and 2 deletions
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openpilot/selfdrive/controls/lib/longitudinal_planner.py
+2 -2
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@@ -112,8 +112,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
# Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
# Get new v_cruise and a_target from Smart Cruise Control and Speed Limit Assist
v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)