From df5405b287562510709fab548faa48996b83ab71 Mon Sep 17 00:00:00 2001 From: rav4kumar <36933347+rav4kumar@users.noreply.github.com> Date: Wed, 19 Aug 2026 12:01:45 -0700 Subject: [PATCH] fix --- openpilot/selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- .../lib/accel_controller/tests/test_accel_controller.py | 4 ++++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py index 0e38eb52dd..daff74038e 100755 --- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py @@ -58,8 +58,8 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, # An override only counts as "active" if it's the bound that actually determined target_accel here -- # turn/coast derating can shrink max_accel back below max_accel_override, and either bound can simply # not be reached if v_cruise - v_ego already sits inside [min_accel, max_accel] on its own. - accel_controller_active = ((max_accel_override is not None and max_accel == max_accel_override and target_accel == max_accel) or - (min_accel_override is not None and min_accel == min_accel_override and target_accel == min_accel)) + accel_controller_active = bool((max_accel_override is not None and max_accel == max_accel_override and target_accel == max_accel) or + (min_accel_override is not None and min_accel == min_accel_override and target_accel == min_accel)) j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS) target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt)) diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py index c7bb622e74..3135a41a2b 100644 --- a/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py +++ b/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py @@ -19,6 +19,7 @@ import unittest import numpy as np +from openpilot.cereal import messaging from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.common.test import OpenpilotTestCase @@ -202,6 +203,9 @@ class TestOffEqualsStock(OpenpilotTestCase): target, active = get_cruise_accel(True, **args, max_accel_override=0.4) self.assertAlmostEqual(target, 0.4, places=6) self.assertTrue(active) + self.assertIsInstance(active, bool) + plan = messaging.new_message('longitudinalPlanSP') + plan.longitudinalPlanSP.accelController.active = active