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Should run these at 50 Hz

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This commit is contained in:
Jason Wen
2024-07-22 11:29:42 -04:00
parent 807873e6a8
commit d25d832885
1 changed files with 2 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+2 -1
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@@ -287,7 +287,6 @@ class CarController(CarControllerBase):
can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
else:
self.make_jerk(CS, accel, actuators)
self.make_accel(accel, actuators)
# Parse lead distance from radarState and display the corresponding distance in the car's cluster
if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -300,6 +299,8 @@ class CarController(CarControllerBase):
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
self.make_jerk(CS, accel, actuators)
self.make_accel(accel, actuators)
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))