diameter instead of radius

Acceleration for part circle calculated with radius instead of diameter. So therefore the speeds were too slow.
priuscom · Jul 14, 2019 · 127b160 · 127b160
1 parent aab1c80
commit 127b160
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py
@@ -253,7 +253,7 @@ def max_speed_ahead(self, current_speed_limit, lat, lon, heading, lookahead):
             a = 111132.954*math.cos(float(latmax+latmin)/360*3.141592)*float(lonmax-lonmin)
           else:
             circle = circle_through_points([way.way.nodes[0].lat,way.way.nodes[0].lon,1], [way.way.nodes[1].lat,way.way.nodes[1].lon,1], [way.way.nodes[-1].lat,way.way.nodes[-1].lon,1])
-            a = 111132.954*math.cos(float(latmax+latmin)/360*3.141592)*float(circle[2])
+            a = 111132.954*math.cos(float(latmax+latmin)/360*3.141592)*float(circle[2])*2
           speed_ahead = np.sqrt(1.6075*a)
           min_dist = 999.9
           for w in way_pts: