From 85faddc7afd230e2fac04cd0841d9443877c7d82 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 13 Jan 2025 23:46:38 -0500 Subject: [PATCH] this is why it was never using DEC --- sunnypilot/selfdrive/controls/lib/dec/helpers.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/helpers.py b/sunnypilot/selfdrive/controls/lib/dec/helpers.py index 602d3b64ba..d232ec7bf0 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/helpers.py +++ b/sunnypilot/selfdrive/controls/lib/dec/helpers.py @@ -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()