LongitudinalPlanner: replace hardcoded length with ModelConstants.IDX…

…_N (commaai#32597) replace hardcoded length
Edison-CBS · Jun 3, 2024 · 1e70b23 · 1e70b23
1 parent f717e1e
commit 1e70b23
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -62,9 +62,9 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
 
   @staticmethod
   def parse_model(model_msg, model_error):
-    if (len(model_msg.position.x) == 33 and
-       len(model_msg.velocity.x) == 33 and
-       len(model_msg.acceleration.x) == 33):
+    if (len(model_msg.position.x) == ModelConstants.IDX_N and
+       len(model_msg.velocity.x) == ModelConstants.IDX_N and
+       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)