Update cruise_helper.py

jc01rho-openpilot-BoltEV2019-KoKr · Nov 19, 2023 · d3e5436 · d3e5436
1 parent 2c896d3
commit d3e5436
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/cruise_helper.py b/selfdrive/controls/lib/cruise_helper.py
@@ -671,12 +671,12 @@ def update_v_cruise_apilot(self, v_cruise_kph, buttonEvents, enabled, metric, co
       self.naviSpeedRecoveryProcessOngoing = True
 
     if self.naviSpeedRecoveryProcessOngoing and self.naviSpeed == 0:
-      if self.frame % 100 == 0:
+      if self.frame % 50 == 0:
         self.naviSpeedRecoveryProcessCounter += 1
       speed_diff = self.v_cruise_kph_apply - self.naviSpeedPrev
-      self.naviSpeed  = round(self.naviSpeedPrev +  speed_diff * (self.naviSpeedRecoveryProcessCounter/40.0))
+      self.naviSpeed  = round(self.naviSpeedPrev +  speed_diff * (self.naviSpeedRecoveryProcessCounter/10.0))
 
-      if self.naviSpeedRecoveryProcessCounter > 40 :
+      if self.naviSpeedRecoveryProcessCounter > 10 :
         self.naviSpeedRecoveryProcessOngoing = False
         self.naviSpeedRecoveryProcessCounter = 0
         self.naviSpeedPrev = 0