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This commit is contained in:
Jason Wen
2024-08-08 20:59:27 -04:00
parent 155b4b3314
commit 69be3fdb1b
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+2 -1
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@@ -12,6 +12,7 @@ from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
@@ -82,7 +83,7 @@ class LongitudinalPlanner:
self.dt = dt
self.a_desired = init_a
v_ego_sec = 0.6 if CP.carName == "hyundai" else 2.0
v_ego_sec = 0.6 if CP.carName == "hyundai" and not CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else 2.0
self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
self.v_model_error = 0.0