Merge pull request commaai#64 from arne182/release2

update to latest

selfdrive/controls/lib/longcontrol.py

@@ -94,11 +94,11 @@ def dynamic_gas(self, v_ego, v_rel, d_rel, gasinterceptor, gasbuttonstatus):
       if gasbuttonstatus == 0:
         dynamic = True
         x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
-        y = [0.5, 0.47, 0.43, 0.35, 0.3, 0.3, 0.3229, 0.34784, 0.36765, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
+        y = [0.35, 0.47, 0.43, 0.35, 0.3, 0.3, 0.3229, 0.34784, 0.36765, 0.38, 0.396, 0.409, 0.425, 0.478, 0.55, 0.621, 0.7]
       elif gasbuttonstatus == 1:
         y = [0.9, 0.95, 0.99]
       elif gasbuttonstatus == 2:
-        y = [0.35, 0.2, 0.2]
+        y = [0.25, 0.2, 0.2]
 
     if not dynamic:
       x = [0., 9., 35.]  # default BP values

selfdrive/controls/lib/planner.py

@@ -26,15 +26,15 @@
 
 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
+_A_CRUISE_MIN_V  = [-.8, -.7, -.6, -.5, -.3]
 _A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  55.]
 
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MAX_V = [3.5, 3.0, 1.5, .5, .3]
-_A_CRUISE_MAX_V_ECO = [1.6, 1.5, 1.0, 0.3, 0.1]
+_A_CRUISE_MAX_V_ECO = [1.0, 1.5, 1.0, 0.3, 0.1]
 _A_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.5, 3.5, 3.5]
-_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 1.2, .7, .3]
+_A_CRUISE_MAX_V_FOLLOWING = [1.3, 1.6, 1.2, .7, .3]
 _A_CRUISE_MAX_BP = [0.,  5., 10., 20., 55.]
 
 # Lookup table for turns

selfdrive/mapd/mapd.py

@@ -145,6 +145,7 @@ def mapsd_thread():
   road_points = None
   speedLimittraffic = 0
   speedLimittraffic_prev = 0
+  max_speed = None
   max_speed_prev = 0
   speedLimittrafficvalid = False
 
@@ -160,6 +161,9 @@ def mapsd_thread():
     if traffic is not None:
       if traffic.liveTrafficData.speedLimitValid:
         speedLimittraffic = traffic.liveTrafficData.speedLimit
+        if speedLimittraffic_prev is not speedLimittraffic:
+          speedLimittrafficvalid = True
+          speedLimittraffic_prev = speedLimittraffic
       if traffic.liveTrafficData.speedAdvisoryValid:
         speedLimittrafficAdvisory = traffic.liveTrafficData.speedAdvisory
         speedLimittrafficAdvisoryvalid = True
@@ -266,20 +270,9 @@ def mapsd_thread():
       if max_speed is not None:
         if max_speed is not max_speed_prev:
           speedLimittrafficvalid = False
-      if speedLimittraffic_prev is not speedLimittraffic:
-        speedLimittrafficvalid = True
-
-      if speedLimittrafficvalid:
-        if speedLimittraffic is not 0: # Should not occur but check anyway
-          dat.liveMapData.speedLimitValid = True
-          dat.liveMapData.speedLimit = speedLimittraffic / 3.6
-          speedLimittraffic_prev = speedLimittraffic
-      else:
-        if max_speed is not None:
-          dat.liveMapData.speedLimitValid = True
-          dat.liveMapData.speedLimit = max_speed
           max_speed_prev = max_speed
-
+
+
 
         # TODO: use the function below to anticipate upcoming speed limits
         #max_speed_ahead, max_speed_ahead_dist = cur_way.max_speed_ahead(max_speed, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE)
@@ -308,6 +301,17 @@ def mapsd_thread():
         dat.liveMapData.roadCurvatureX = map(float, dists)
         dat.liveMapData.roadCurvature = map(float, curvature)
 
+    if speedLimittrafficvalid:
+      if speedLimittraffic is not 0: # Should not occur but check anyway
+        dat.liveMapData.speedLimitValid = True
+        dat.liveMapData.speedLimit = speedLimittraffic / 3.6
+        #map_valid = True
+    else:
+      if max_speed is not None:
+        dat.liveMapData.speedLimitValid = True
+        dat.liveMapData.speedLimit = max_speed
+
+
     dat.liveMapData.mapValid = map_valid
 
     map_data_sock.send(dat.to_bytes())