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Fix hard deceleration after user accelerates above set cruise speed (#1880)

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* Fix hard deceleration after user accelerates above set cruise speed

* 2nd required change
This commit is contained in:
Shane Smiskol 2020-07-20 10:04:05 -05:00 committed by GitHub
parent 1613abb0b1
commit ebadb39e42
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 2 additions and 2 deletions
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2
selfdrive/controls/lib/longcontrol.py
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@ -85,7 +85,7 @@ class LongControl():
v_ego_pid = max(CS.vEgo, MIN_CAN_SPEED) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
if self.long_control_state == LongCtrlState.off:
if self.long_control_state == LongCtrlState.off or CS.gasPressed:
self.v_pid = v_ego_pid
self.pid.reset()
output_gb = 0.

2
selfdrive/controls/lib/planner.py
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@ -129,7 +129,7 @@ class Planner():
following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
# Calculate speed for normal cruise control
if enabled and not self.first_loop:
if enabled and not self.first_loop and not sm['carState'].gasPressed:
accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] # TODO: make a separate lookup for jerk tuning
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)