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gen 11 only api limit exceeded maybe not

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discountchubbs
2025-06-18 18:12:34 -06:00
parent 6b9c63acbe
commit 54172ed4c3
2 changed files with 12 additions and 5 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+9 -5
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@@ -171,12 +171,16 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
output_should_stop_e2e = sm['modelV2'].action.shouldStop
if self.mode == 'acc':
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
if self.generation == 11:
if self.mode == 'acc':
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
else:
output_a_target = min(output_a_target_mpc, output_a_target_e2e)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
else:
output_a_target = min(output_a_target_mpc, output_a_target_e2e)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
for idx in range(2):
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+3
View File
@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
from cereal import messaging, custom
from opendbc.car import structs
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
from openpilot.sunnypilot.models.helpers import get_active_bundle
DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,8 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
class LongitudinalPlannerSP:
def __init__(self, CP: structs.CarParams, mpc):
self.dec = DynamicExperimentalController(CP, mpc)
model_bundle = get_active_bundle()
self.generation = model_bundle.generation if model_bundle is not None else None
def get_mpc_mode(self) -> str | None:
if not self.dec.active():