From 4de6fac0d462fc0598b560b399758f06a89bfff6 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 1 Jul 2024 15:35:27 -0400 Subject: [PATCH] in plannerd --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/controls/plannerd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 8902b29d85..4f948f195c 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 11192b8791..640251f163 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -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: