From 56ee796b90fc364dddb83a5a1cd8b2b438beba85 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 26 Apr 2024 22:55:02 -0400 Subject: [PATCH] fix --- selfdrive/car/hyundai/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index e9906fe6ee..f7caa5ab85 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -137,7 +137,7 @@ class CarController(CarControllerBase): can_sends.extend(hyundaicanfd.create_radar_aux_messages(self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: if can_canfd_hybrid: - upper = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + upper_jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 can_sends.extend(hyundaicanfd.create_acc_commands_can_canfd_hybrid(self.packer, self.CAN, CC.enabled, accel, self.accel_last, upper_jerk, int(self.frame / 2), hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override, hud_control))