Merge pull request commaai#10 from arne182/dynamic-follow

Dynamic follow
springermac · Mar 15, 2019 · b7a09ba · b7a09ba
2 parents c4e2fac + 58559cd
commit b7a09ba
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Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -269,9 +269,15 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
                                       PL.PP.c_poly, PL.PP.c_prob, CS.steeringAngle,
                                       CS.steeringPressed)
   if CS.gasbuttonstatus == 0:
-    CP.gasMaxV = [0.2, 0.2, 0.2]
+    if CS.enableGasInterceptor:
+      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 CS.enableGasInterceptor:
+      CP.gasMaxV = [0.25, 0.9, 0.9]
+    else:
+      CP.gasMaxV = [0.7, 0.9, 0.9]
   # Gas/Brake PID loop
   actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
                                               v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget,

diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
@@ -99,10 +99,10 @@ def query_thread():
         if dist < 1000:
           continue
 
-        if dist > 3000:
+        if dist > 4000:
           cache_valid = False
 
-      q = build_way_query(last_gps.latitude, last_gps.longitude, radius=3000)
+      q = build_way_query(last_gps.latitude, last_gps.longitude, radius=4000)
       try:
         new_result = api.query(q)