From c3fde450005dac7831a85f7b1499bc035b6239ac Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 12 Jan 2025 16:48:44 -0500 Subject: [PATCH] more cleanup --- .../selfdrive/controls/lib/dec_longitudinal_planner.py | 3 +-- .../controls/lib/dynamic_experimental_controller.py | 7 ++++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py index 3e1e1b97cf..4901ab7c01 100644 --- a/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py @@ -1,5 +1,6 @@ from cereal import messaging, custom from openpilot.sunnypilot.selfdrive.controls.lib.dynamic_experimental_controller import DynamicExperimentalController + MpcSource = custom.LongitudinalPlanSP.MpcSource @@ -29,9 +30,7 @@ class DecLongitudinalPlanner: # DEC longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc - print(f"mpcSource: {longitudinalPlanSP.mpcSource}") longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled() - print(f"dynamicExperimentalControl: {longitudinalPlanSP.dynamicExperimentalControl}") pm.send('longitudinalPlanSP', plan_sp_send) diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py index e166c7c65d..eff8fc804a 100644 --- a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py +++ b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py @@ -185,7 +185,7 @@ class DynamicExperimentalController: return LEAD_PROB + 0.1 # Increase the threshold on highways return LEAD_PROB - def _update(self, car_state, lead_one, md, controls_state): # , maneuver_distance): + def _update(self, car_state, lead_one, md): self._v_ego_kph = car_state.vEgo * 3.6 self._v_cruise_kph = car_state.vCruise self._has_lead = lead_one.status @@ -371,13 +371,14 @@ class DynamicExperimentalController: car_state = sm['carState'] lead_one = sm['radarState'].leadOne md = sm['modelV2'] - controls_state = sm['controlsState'] if self._is_enabled: - self._update(car_state, lead_one, md, controls_state) + self._update(car_state, lead_one, md) + if radar_unavailable: self._radarless_mode() else: self._radar_mode() + self._mode_changed = self._mode != self._mode_prev self._mode_prev = self._mode