From 1349fa576ec583232be2c134d96fc6c119c4540d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 11 Nov 2023 11:53:05 -0500 Subject: [PATCH] omg we flipped the logic --- selfdrive/controls/lib/lateral_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 4c078e1903..87d53c5415 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -125,7 +125,7 @@ class LateralPlanner: self.path_xyz[:, 1] += self.LP.path_offset self.dynamic_lane_profile_status = True - if self.dynamic_lane_profile_status: + if not self.dynamic_lane_profile_status: self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST)