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This commit is contained in:
Jason Wen
2025-01-12 16:46:43 -05:00
parent 12981e02f7
commit e7d27f0bb9
1 changed files with 15 additions and 15 deletions
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sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
+15 -15
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@@ -343,21 +343,6 @@ class DynamicExperimentalController:
self._set_mode('acc')
def update(self, radar_unavailable, sm):
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)
if radar_unavailable:
self._radarless_mode()
else:
self._radar_mode()
self._mode_changed = self._mode != self._mode_prev
self._mode_prev = self._mode
def get_mpc_mode(self):
return self._mode
@@ -381,3 +366,18 @@ class DynamicExperimentalController:
if self._set_mode_timeout > 0:
self._set_mode_timeout -= 1
def update(self, radar_unavailable, sm):
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)
if radar_unavailable:
self._radarless_mode()
else:
self._radar_mode()
self._mode_changed = self._mode != self._mode_prev
self._mode_prev = self._mode