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Keep stock force-deceleration flow intact

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rav4kumar
2026-07-18 09:20:38 -07:00
parent 5c6d189e7e
commit bab628da90
1 changed files with 5 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+5 -2
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@@ -136,9 +136,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
previous_output_a_target = self.output_a_target
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
base_v_cruise = v_cruise
mpc_v_cruise = 0.0 if force_slow_decel else base_v_cruise
if force_slow_decel:
v_cruise = 0.0
is_e2e = LongitudinalPlannerSP.update_accel_controller_mpc(
self, sm, base_v_cruise, mpc_v_cruise, prev_accel_constraint, reset_state=reset_state,
self, sm, base_v_cruise, v_cruise, prev_accel_constraint, reset_state=reset_state,
cruise_initialized=v_cruise_initialized, planner_accel=self.a_desired, previous_output_accel=previous_output_a_target,
available_accel_max=controller_accel_max, previous_should_stop=self.output_should_stop, force_decel=force_slow_decel,
)