Merge pull request commaai#140 from ShaneSmiskol/release2

Matched gas profiles from dynamic follow to release2
mespiritu · Mar 29, 2019 · 93df3e0 · 93df3e0
2 parents 0ed236d + 1d4e1bf
commit 93df3e0
Showing 1 changed file with 13 additions and 2 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -244,10 +244,21 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise
     angle_offset = learn_angle_offset(active, CS.vEgo, angle_offset,
                                       path_plan.cPoly, path_plan.cProb, CS.steeringAngle,
                                       CS.steeringPressed)
+  try:
+    gasinterceptor = CP.enableGasInterceptor
+  except AttributeError:
+    gasinterceptor = False
+
   if CS.gasbuttonstatus == 0:
-    CP.gasMaxV = [0.2, 0.2, 0.2]
+    if gasinterceptor:
+      CP.gasMaxV = [0.2, 0.5, 0.7]
+    else:
+      CP.gasMaxV = [0.5, 0.7, 0.9]
   else:
-    CP.gasMaxV = [0.2, 0.5, 0.7]
+    if gasinterceptor:
+      CP.gasMaxV = [0.25, 0.9, 0.9]
+    else:
+      CP.gasMaxV = [0.7, 0.9, 0.9]
 
   cur_time = sec_since_boot()  # TODO: This won't work in replay
   mpc_time = plan.l20MonoTime / 1e9