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2024-05-18 00:32:24 -05:00
parent 52b6f7abea
commit 41b4f73622
8 changed files with 194 additions and 69 deletions
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13
selfdrive/controls/lib/desire_helper.py
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@@ -156,12 +156,13 @@ class DesireHelper:
self.prev_one_blinker = one_blinker
self.turn_completed &= one_blinker
if self.turn_direction != TurnDirection.none:
self.desire = TURN_DESIRES[self.turn_direction]
elif not self.turn_completed:
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
else:
self.desire = log.Desire.none
# Clearpilot test: disabling turn desires
# if self.turn_direction != TurnDirection.none:
# self.desire = TURN_DESIRES[self.turn_direction]
# elif not self.turn_completed:
# self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# else:
# self.desire = log.Desire.none
# Send keep pulse once per second during LaneChangeStart.preLaneChange
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):

4
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -20,6 +20,8 @@ from openpilot.system.version import get_short_branch
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
import sys
LON_MPC_STEP = 0.2 # first step is 0.2s
A_CRUISE_MIN = -1.2
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -263,6 +265,8 @@ class LongitudinalPlanner:
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
print("LONG PLAN SPEEDS", sys.stderr)
print(longitudinalPlan.speeds, sys.stderr)
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()