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fix static test

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rav4kumar
2025-01-04 15:49:27 -07:00
parent d91360cc70
commit 393c3fff0b
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+2 -2
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@@ -126,13 +126,13 @@ class LongitudinalPlanner:
if self.param_read_counter % 50 == 0:
self.read_param()
self.param_read_counter += 1
if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
if self.dynamic_experimental_controller.is_enabled() and sm['selfdriveState'].experimentalMode:
self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'])
#, sm['navInstruction'].maneuverDistance)
self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
else:
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if len(sm['carControl'].orientationNED) == 3:
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])