wip

2024-05-11 23:00:32 -05:00
parent bef1770b58
commit 65bcdde866
9 changed files with 159 additions and 134 deletions
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -181,6 +181,7 @@ class LongitudinalPlanner:
    force_slow_decel = sm['controlsState'].forceDecel

    # Reset current state when not engaged, or user is controlling the speed
+    # clearpilot - might need changing
    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled

    # No change cost when user is controlling the speed, or when standstill