Merge pull request #210 from arne182/066-clean

066 clean
sshane · Nov 22, 2019 · a28da44 · a28da44
2 parents 3129294 + b409e51
commit a28da44
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
@@ -65,7 +65,7 @@ RUN /tmp/install_capnp.sh
 
 RUN git clone --branch v0.6.5 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
 
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
+ENV PYTHONPATH /tmp/openpilot
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -60,12 +60,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
       ret.gasMaxBP = [0., 9., 55]
       ret.gasMaxV = [0.2, 0.5, 0.7]
       ret.longitudinalTuning.kpV = [0.50, 0.4, 0.3]  # braking tune
-      ret.longitudinalTuning.kiV = [0.0135, 0.01]
+      ret.longitudinalTuning.kiV = [0.135, 0.1]
     else:
       ret.gasMaxBP = [0., 9., 55]
       ret.gasMaxV = [0.2, 0.5, 0.7]
       ret.longitudinalTuning.kpV = [0.325, 0.325, 0.325]  # braking tune from rav4h
-      ret.longitudinalTuning.kiV = [0.001, 0.0010]
+      ret.longitudinalTuning.kiV = [0.1, 0.10]
 
     if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
       ret.lateralTuning.init('pid')

diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
@@ -143,8 +143,8 @@ def get_cost(self, TR):
       if abs(real_TR - TR) >= .25:  # use real TR if diff is greater than x safety threshold
         TR = real_TR
     if self.lead_data['v_lead'] is not None and self.v_ego > 5:
-      factor = min(1,max(2,(self.lead_data['v_lead'] - self.v_ego)/2 + 1.5))
-      return min(round(float(interp(TR, x, y)), 3)/factor, 0.1)
+      factor = max(1,min(2,(self.lead_data['v_lead'] - self.v_ego)/2 + 1.5))
+      return max(round(float(interp(TR, x, y)), 3)/factor, 1.1)
     else:
       return round(float(interp(TR, x, y)), 3)
 

diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
@@ -126,7 +126,7 @@ def choose_solution(self, v_cruise_setpoint, enabled):
         solutions['mpc2'] = self.mpc2.v_mpc
 
       slowest = min(solutions, key=solutions.get)
-
+      
       self.longitudinalPlanSource = slowest
       # Choose lowest of MPC and cruise
       if slowest == 'mpc1':

diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
@@ -277,7 +277,7 @@ def mapsd_thread():
             curvature = np.nan_to_num(curvature)
 
 
-
+            curvature = abs(curvature)
             upcoming_curvature = np.amax(curvature)
             dist_to_turn =np.amin(dists[np.logical_and(curvature >= np.amax(curvature), curvature <= np.amax(curvature))])