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This commit is contained in:
Jason Wen
2025-01-14 20:50:57 -05:00
parent f4af0aa422
commit d01b02b185
2 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+1 -1
View File
@@ -110,7 +110,7 @@ class LongitudinalPlanner(DecPlanner):
def update(self, sm):
DecPlanner.update(self, sm)
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if dec_mpc_mode := self.get_mpc_mode():
if dec_mpc_mode := self.get_dec_mpc_mode():
self.mpc.mode = dec_mpc_mode
if len(sm['carControl'].orientationNED) == 3:
sunnypilot/selfdrive/controls/lib/dec/helpers.py
+1 -1
View File
@@ -18,7 +18,7 @@ class DecPlanner:
self.mpc = mpc
self.dec = DynamicExperimentalController()
def get_mpc_mode(self) -> str | None:
def get_dec_mpc_mode(self) -> str | None:
if not self.dec.active():
return None