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model arg got lost in the rebase

stop-lines
mitchellgoffpc 2021-09-27 21:08:07 -07:00
parent 4cbb7fc9cd
commit 480ce788a0
2 changed files with 2 additions and 2 deletions
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2
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -286,7 +286,7 @@ class LongitudinalMpc():
self.cruise_min_a = min_a
self.cruise_max_a = max_a
def update(self, carstate, radarstate, v_cruise):
def update(self, carstate, radarstate, model, v_cruise):
v_ego = self.x0[1]
stopping = model.stopLine.prob > 0.5
self.status = radarstate.leadOne.status or radarstate.leadTwo.status or stopping

2
selfdrive/controls/lib/longitudinal_planner.py
View File

@ -93,7 +93,7 @@ class Planner():
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired, self.a_desired)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise)
self.mpc.update(sm['carState'], sm['radarState'], sm['modelV2'], v_cruise)
self.v_desired_trajectory = self.mpc.v_solution[:CONTROL_N]
self.a_desired_trajectory = self.mpc.a_solution[:CONTROL_N]
self.j_desired_trajectory = self.mpc.j_solution[:CONTROL_N]