disable curve slow

nelsonjchen · Jan 17, 2020 · c8db3e8 · c8db3e8
1 parent 2c1a363
commit c8db3e8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
@@ -136,8 +136,8 @@ def update(self, sm, pm, CP, VM, PP):
 
       a_y_max = 2.975 - v_ego * 0.0375  # ~1.85 @ 75mph, ~2.6 @ 25mph
       v_curvature = np.sqrt(a_y_max / np.clip(np.abs(curv), 1e-4, None))
-      model_speed = np.min(v_curvature)
-      model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
+      model_speed = MAX_SPEED
+      model_speed = MAX_SPEED # Don't slow down below 20mph
     else:
       model_speed = MAX_SPEED