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fix static test

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This commit is contained in:
rav4kumar
2025-01-04 15:34:45 -07:00
parent cc3f2f617d
commit 6865eecbed
2 changed files with 5 additions and 8 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+2 -4
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@@ -128,14 +128,12 @@ class LongitudinalPlanner:
self.param_read_counter += 1
if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState']) #, sm['navInstruction'].maneuverDistance)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'])
#, sm['navInstruction'].maneuverDistance)
self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
else:
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
def update(self, sm):
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if len(sm['carControl'].orientationNED) == 3:
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
else:
sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
+3 -4
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
# The MIT License
#
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
@@ -22,7 +21,7 @@
# THE SOFTWARE.
#
# Version = 2024-7-11
from common.numpy_fast import interp
from openpilot.common.numpy_fast import interp
import numpy as np
# d-e2e, from modeldata.h
@@ -262,7 +261,7 @@ class DynamicExperimentalController:
# return
# when blinker is on and speed is driving below V_ACC_MIN: blended
# we dont want it to switch mode at higher speed, blended may trigger hard brake
# we don't want it to switch mode at higher speed, blended may trigger hard brake
#if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
# self._set_mode('blended')
# return
@@ -312,7 +311,7 @@ class DynamicExperimentalController:
return
# when blinker is on and speed is driving below V_ACC_MIN: blended
# we dont want it to switch mode at higher speed, blended may trigger hard brake
# we don't want it to switch mode at higher speed, blended may trigger hard brake
#if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
# self._set_mode('blended')
# return