From 393c3fff0b79de6cc8a10c4629e78c82c331bd82 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Sat, 4 Jan 2025 15:49:27 -0700 Subject: [PATCH] fix static test --- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4f691f9278..b803bd51d1 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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])