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IQ.Pilot Release Commit @ 661a2de

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IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
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9
selfdrive/controls/lib/longcontrol.py
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@@ -53,7 +53,7 @@ class LongControl:
def reset(self):
self.pid.reset()
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False):
def update(self, active, CS, a_target, should_stop, accel_limits, lead_distance=0.0, has_lead=False, gas_override=False):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
self.pid.neg_limit = accel_limits[0]
self.pid.pos_limit = accel_limits[1]
@@ -87,8 +87,13 @@ class LongControl:
else:
error = a_target - CS.aEgo
output_accel = self.pid.update(error, speed=CS.vEgo,
feedforward=a_target)
feedforward=a_target,
freeze_integrator=gas_override)
self.smooth.reset()
if gas_override:
# safety blocks braking while the gas is pressed, and a blocked tx drops the whole frame
output_accel = max(output_accel, 0.0)
self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
return self.last_output_accel