wip

2024-02-08 14:36:45 -06:00
parent b5fd185742
commit 88785baa11
1 changed files with 6 additions and 4 deletions
--- a/selfdrive/frogpilot/functions/frogpilot_planner.py
+++ b/selfdrive/frogpilot/functions/frogpilot_planner.py
@@ -171,10 +171,12 @@ class FrogPilotPlanner:
    else:
      self.vtsc_target = v_cruise

-    if self.CSLC:
-      v_ego_diff = 0
-    else:
+    # if self.CSLC:
+      # v_ego_diff = 0
+    # else:
+    
    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

  def publish_lateral(self, sm, pm, DH):