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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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4
selfdrive/controls/lib/longitudinal_planner.py
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@@ -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()