From 3d06292c7e58fd6189e2456e63b09f593a3aae56 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 3 Sep 2024 16:37:03 -0700
Subject: [PATCH] Update long_mpc.py

---
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 7e168a1bd2..f71a99be7b 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 6.0
+STOP_DISTANCE = 5.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -63,9 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.85
+    return 0.5
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.8
+    return 0.1
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.1
   else: