brianhansonxyz/oscarpilot
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2024-02-08 14:36:45 -06:00
parent b5fd185742
commit 88785baa11
1 changed files with 6 additions and 4 deletions
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10
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -171,10 +171,12 @@ class FrogPilotPlanner:
else: else:
self.vtsc_target = v_cruise self.vtsc_target = v_cruise
if self.CSLC: # if self.CSLC:
v_ego_diff = 0 # v_ego_diff = 0
else: # else:
v_ego_diff = max(carState.vEgoRaw - carState.vEgoCluster, 0)
v_ego_diff = max(carState.vEgoRaw - carState.vEgoCluster, 0)
return min(v_cruise, self.mtsc_target, self.slc_target, self.vtsc_target) - v_ego_diff return min(v_cruise, self.mtsc_target, self.slc_target, self.vtsc_target) - v_ego_diff
def publish_lateral(self, sm, pm, DH): def publish_lateral(self, sm, pm, DH):