From 69be3fdb1b6b7fc60ec1b51282c756778c3fdebd Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 8 Aug 2024 20:59:27 -0400 Subject: [PATCH] only ice --- selfdrive/controls/lib/longitudinal_planner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 7e288c1888..11b0815dd2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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