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Improve style in drive_helpers #23962

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merged 1 commit into from
Mar 14, 2022
+4 −4
Merged

Improve style in drive_helpers #23962

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Improve style in drive_helpers
@GregorKikelj
GregorKikelj authored Mar 14, 2022
commit b24e901b887f3b52c1ae9f59876974f73dc652a3
8 changes: 4 additions & 4 deletions selfdrive/controls/lib/drive_helpers.py
View file
Original file line number Diff line number Diff line change
@@ -61,7 +61,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
long_press = False
button_type = None

v_cruise_delta = 1 if metric else 1.6
v_cruise_delta = 1. if metric else CV.MPH_TO_KPH

for b in buttonEvents:
if b.type.raw in button_timers and not b.pressed:
@@ -98,9 +98,9 @@ def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):

def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
if len(psis) != CONTROL_N:
psis = [0.0 for i in range(CONTROL_N)]
curvatures = [0.0 for i in range(CONTROL_N)]
curvature_rates = [0.0 for i in range(CONTROL_N)]
psis = [0.0]*CONTROL_N
curvatures = [0.0]*CONTROL_N
curvature_rates = [0.0]*CONTROL_N

# TODO this needs more thought, use .2s extra for now to estimate other delays
delay = CP.steerActuatorDelay + .2