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IQ.Pilot Release Commit @ d56a848

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IQ.Lvbs CI [bot]
2026-07-28 14:37:54 -05:00
parent d3c4b55c9e
commit 7ce0c88294
28 changed files with 57 additions and 45 deletions
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3
selfdrive/controls/lib/longcontrol.py
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@@ -47,6 +47,7 @@ class LongControl:
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
rate=1 / DT_CTRL)
self.last_output_accel = 0.0
self.stopping_decel_rate = CP_IQ.stoppingDecelRateOverride or 1.0
self.smooth = SmoothStopController()
def reset(self):
@@ -75,7 +76,7 @@ class LongControl:
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
# TODO: can we just go straight to stopAccel?
output_accel -= 1.0 * DT_CTRL # m/s^2/s while trying to stop
output_accel -= self.stopping_decel_rate * DT_CTRL # m/s^2/s while trying to stop
self.reset()
self.smooth.reset()