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doesn't work well

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This commit is contained in:
Jason Wen
2024-07-22 21:49:03 -04:00
parent 8affb2fcad
commit 0d499b0857
1 changed files with 2 additions and 13 deletions
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selfdrive/controls/lib/longcontrol.py
+2 -13
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@@ -51,8 +51,6 @@ class LongControl:
k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
self.last_output_accel = 0.0
self.frame = 0
def reset(self):
self.pid.reset()
@@ -76,22 +74,13 @@ class LongControl:
self.reset()
elif self.long_control_state == LongCtrlState.starting:
if self.frame < 10 and self.CP.carName == "hyundai":
self.frame += 1
output_accel = self.CP.startAccel
self.reset()
else: # LongCtrlState.pid
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
output_accel = self.CP.startAccel
self.reset()
else: # LongCtrlState.pid
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
if not self.long_control_state == LongCtrlState.starting:
self.frame = 0
self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
return self.last_output_accel