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update rate of change properly

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This commit is contained in:
Jason Wen
2024-07-22 16:25:51 -04:00
parent ab72cf0457
commit 5e3cf24afe
1 changed files with 3 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+3 -1
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@@ -534,8 +534,10 @@ class CarController(CarControllerBase):
self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
def make_accel(self, accel, actuators):
rate_up = 0.02 * self.jerk_u
rate_down = 0.02 * self.jerk_l
if actuators.longControlState == LongCtrlState.off:
self.accel_val = 0
else:
self.accel_val = clip(accel, self.accel_last - 0.1, self.accel_last + 0.1)
self.accel_val = clip(accel, self.accel_last - rate_down, self.accel_last + rate_up)
self.accel_last = self.accel_val