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DLP: don't delay on checking status (#31)

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This commit is contained in:
Jason Wen
2023-02-11 01:31:20 -05:00
committed by GitHub
parent 4d65697c07
commit a42d9e238d
1 changed files with 1 additions and 5 deletions
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selfdrive/controls/lib/lateral_planner.py
+1 -5
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@@ -49,7 +49,6 @@ class LateralPlanner:
self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8"))
self.dynamic_lane_profile_status = False
self.dynamic_lane_profile_status_buffer = False
self.second = 0.0
self.standstill_elapsed = 0.0
self.standstill = False
@@ -59,10 +58,7 @@ class LateralPlanner:
self.lat_mpc.reset(x0=self.x0)
def update(self, sm):
self.second += DT_MDL
if self.second > 1.0:
self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8"))
self.second = 0.0
self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding='utf8'))
self.standstill = sm['carState'].standstill
# clip speed , lateral planning is not possible at 0 speed
self.v_ego = max(MIN_SPEED, sm['carState'].vEgo)