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This commit is contained in:
rav4kumar
2025-02-19 07:46:09 -07:00
parent a62ee3ae1d
commit 9c5045febe
1 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+4 -4
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@@ -162,14 +162,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
if self.accel_controller.is_enabled:
min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
#TODO: If allow_throttle is causing issues, make sure it allows braking
if not self.allow_throttle:
min_limit = min(min_limit, -3.5) # Ensure braking is allowed if needed
print(f"allow_throttle={self.allow_throttle}, min_limit before={min_limit:.2f}")
#if not self.allow_throttle:
#min_limit = min(min_limit, -3.5) # Ensure braking is allowed if needed
#print(f"allow_throttle={self.allow_throttle}, min_limit before={min_limit:.2f}")
print(f"Accel Controller: min_limit={min_limit:.2f}, max_limit={max_limit:.2f}")
if self.mpc.mode == 'acc':
# Use the accel controller limits directly
accel_clip = [min_limit, max_limit]
accel_clip = [ACCEL_MIN, max_limit]
# Recalculate limit turn according to the new min, max
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)