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Block Enhanced Speed Control events on unsupported platforms (#140)

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This commit is contained in:
Jason Wen
2023-03-25 10:07:52 -04:00
committed by GitHub
parent 38068dc916
commit bb76d4f9e9
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+3 -2
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@@ -125,8 +125,9 @@ class LongitudinalPlanner:
v_cruise = 0.0
# Get acceleration and active solutions for custom long mpc.
self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x,
self.a_desired, v_cruise, sm)
self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(
not reset_state and self.CP.openpilotLongitudinalControl, self.v_desired_filter.x,
self.a_desired, v_cruise, sm)
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05, a_min_sol)