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This commit is contained in:
Jason Wen
2024-09-13 08:57:45 -04:00
parent 814b623bfe
commit b54d7d486e
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+2 -2
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@@ -98,7 +98,7 @@ class CustomStockLongitudinalControllerBase(ABC):
return v_cruise_kph
def get_curve_speed(self, target_speed_kph: float, v_cruise_kph_prev: float) -> float:
if self.v_tsc_state != TurnSpeedControlState.inactive:
if self.v_tsc_state != VisionTurnControllerState.disabled:
vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
vision_v_cruise_kph = 255
@@ -137,7 +137,7 @@ class CustomStockLongitudinalControllerBase(ABC):
target_speed_kph = set_speed_kph
else:
target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
if self.v_tsc_state != TurnSpeedControlState.inactive or self.m_tsc_state > TurnSpeedControlState.tempInactive:
if self.v_tsc_state != VisionTurnControllerState.disabled or self.m_tsc_state > TurnSpeedControlState.tempInactive:
self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
else:
self.final_speed_kph = target_speed_kph