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this is why it was never using DEC

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This commit is contained in:
Jason Wen
2025-01-13 23:46:38 -05:00
parent 223abdc536
commit 85faddc7af
1 changed files with 1 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/dec/helpers.py
+1 -4
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@@ -16,13 +16,10 @@ class DecPlanner:
def __init__(self, CP: structs.CarParams, mpc):
self.CP = CP
self.mpc = mpc
self.is_enabled = False
self.dynamic_experimental_controller = DynamicExperimentalController()
def get_mpc_mode(self, sm: messaging.SubMaster):
if not self.is_enabled or not sm['selfdriveState'].experimentalMode:
if not self.dynamic_experimental_controller.is_enabled() or not sm['selfdriveState'].experimentalMode:
return None
return self.dynamic_experimental_controller.get_mpc_mode()