make sure accel_last changes with raw if in pid

2026-07-23 20:52:06 +08:00 · 2024-07-22 16:56:48 -04:00
parent e64d209f54
commit 8affb2fcad
1 changed files with 2 additions and 1 deletions
@@ -535,7 +535,8 @@ class CarController(CarControllerBase):

  def make_accel(self, accel, actuators):
    if actuators.longControlState == LongCtrlState.pid:
-      rate_up, rate_down = 0.1, 0.1
+      rate_up, rate_down = 0.0, 0.0
+      self.accel_last = accel
    else:
      rate_up = 0.02 * self.jerk_u
      rate_down = 0.02 * self.jerk_l