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in plannerd

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This commit is contained in:
Jason Wen
2024-07-01 15:35:27 -04:00
parent 4bf4f627bd
commit 4de6fac0d4
2 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+1 -1
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@@ -178,7 +178,7 @@ class LongitudinalPlanner:
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality, dynamic_personality=sm['controlsState'].dynamicPersonality)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
selfdrive/controls/plannerd.py
+1 -1
View File
@@ -35,7 +35,7 @@ def plannerd_thread():
pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
'liveMapDataSP', 'e2eLongStateSP'] + lateral_planner_svs,
'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
poll='modelV2', ignore_avg_freq=['radarState'])
while True: