From 84274e2fc09c1329cdee052b7fa186c467a56027 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 20 Jul 2024 15:14:51 -0400 Subject: [PATCH] Revert "add lower" This reverts commit dac5e529b6b737567fb4e5e4113c042b2faf77fe. --- selfdrive/car/hyundai/hyundaican.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index b28a94e055..83ceb38659 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -175,7 +175,7 @@ def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values - "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values + "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead }