From 0d499b0857c65b790989dff5fbb0d157130d02b0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 22 Jul 2024 21:49:03 -0400 Subject: [PATCH] doesn't work well --- selfdrive/controls/lib/longcontrol.py | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index a477b48780..a661c33361 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -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