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Revert "dec: faster ?"

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This reverts commit 40259cd22a.
This commit is contained in:
rav4kumar
2025-01-18 11:11:57 -07:00
parent 40259cd22a
commit 2c9ffdbf03
1 changed files with 4 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/dec/dec.py
+4 -4
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@@ -99,16 +99,16 @@ class DynamicExperimentalController:
# Replace WMAC with FOF
self._has_lead_filtered_prev = False
self._lead_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL)
self._lead_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL) # Adjust rc for filtering
self._has_lead_filtered = False
self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL)
self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
self._has_slow_down: bool = False
self._slowness_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL)
self._slowness_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
self._has_slowness: bool = False
self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=0.5, dt=DT_MDL)
self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
self._has_dangerous_ttc: bool = False
self._v_ego_kph = 0.