Fix braking issue when changing from 4 to 1 bar

edukinara · Apr 26, 2019 · bcb4ef7 · bcb4ef7
1 parent a306303
commit bcb4ef7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
@@ -134,7 +134,7 @@ def update(self, CS, lead, v_cruise_setpoint):
       else:
         TR = ONE_BAR_DISTANCE 
       if CS.carState.readdistancelines != self.lastTR:
-        self.libmpc.init(MPC_COST_LONG.TTC, 1.0, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
+        self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
         self.lastTR = CS.carState.readdistancelines  
 
     elif CS.carState.readdistancelines == 2: