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Update long_mpc.py

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Kumar
2025-10-25 14:48:50 -07:00
committed by rav4kumar
parent 2484851edd
commit 9cafeefaf1
1 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+4 -4
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@@ -336,20 +336,20 @@ class LongitudinalMpc:
if self.dynamic_follow.is_enabled():
t_follow = self.dynamic_follow.get_follow_distance_multiplier(v_ego)
print(f"DEBUG: dynamic_follow enabled, t_follow={t_follow:.3f}, v_ego={v_ego:.2f}, v_cruise={v_cruise:.2f}")
#print(f"DEBUG: dynamic_follow enabled, t_follow={t_follow:.3f}, v_ego={v_ego:.2f}, v_cruise={v_cruise:.2f}")
else:
t_follow = get_T_FOLLOW(personality)
print(f"DEBUG: dynamic_follow disabled, using personality t_follow={t_follow:.3f}, personality={personality}")
#print(f"DEBUG: dynamic_follow disabled, using personality t_follow={t_follow:.3f}, personality={personality}")
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
# Get acceleration limits
if self.accel_controller.is_enabled():
min_accel = self.accel_controller.get_min_accel(v_ego)
print(f"DEBUG: accel_enabled=True, min_accel={min_accel:.3f}")
#print(f"DEBUG: accel_enabled=True, min_accel={min_accel:.3f}")
else:
min_accel = CRUISE_MIN_ACCEL
print(f"DEBUG: accel_enabled=False, using stock min_accel={min_accel}")
#print(f"DEBUG: accel_enabled=False, using stock min_accel={min_accel}")
a_cruise_min = min_accel