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Gap Adjust Cruise: Slight cleanup (#267)

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This commit is contained in:
Jason Wen
2023-09-14 04:31:13 -04:00
committed by GitHub
parent 0b09c641a9
commit 59fa3c8770
1 changed files with 3 additions and 3 deletions
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selfdrive/car/interfaces.py
+3 -3
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@@ -555,7 +555,7 @@ class CarInterfaceBase(ABC):
def sp_update_params(self, CS):
self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
CS.gac_tr = round(float(self.param_s.get("LongitudinalPersonality", encoding="utf8")))
CS.gac_tr = int(self.param_s.get("LongitudinalPersonality"))
self._frame += 1
if self._frame % 300 == 0:
self._frame = 0
@@ -600,8 +600,8 @@ class CarStateBase(ABC):
self.prev_mads_enabled = False
self.control_initialized = False
self.gap_dist_button = 0
self.gac_tr = round(float(self.param_s.get("LongitudinalPersonality", encoding="utf8")))
self.gac_tr_cluster = clip(round(float(self.param_s.get("LongitudinalPersonality", encoding="utf8"))), 1, 3)
self.gac_tr = int(self.param_s.get("LongitudinalPersonality"))
self.gac_tr_cluster = clip(int(self.param_s.get("LongitudinalPersonality")), 1, 3)
Q = [[0.0, 0.0], [0.0, 100.0]]
R = 0.3