From bdc8e4b02c368e10edc6c0aa980a4c263a6793c6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Aug 2026 22:25:35 -0700 Subject: [PATCH] deprecate long kp (#38614) * deprecate long kp * bump --- opendbc_repo | 2 +- openpilot/selfdrive/controls/lib/longcontrol.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 44f2987cb6..c536b211b7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 44f2987cb6ed28f7dcd99d5930abf6c2917d8f60 +Subproject commit c536b211b762c37c6d869923ae8ba59ca2f18a0c diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py index 437bcef777..c57f4c4cce 100644 --- a/openpilot/selfdrive/controls/lib/longcontrol.py +++ b/openpilot/selfdrive/controls/lib/longcontrol.py @@ -39,8 +39,7 @@ class LongControl: def __init__(self, CP): self.CP = CP self.long_control_state = LongCtrlState.off - self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), - (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), + self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), rate=1 / DT_CTRL) self.last_output_accel = 0.0