long planner: allow throttle reflects usage (#33792)

* UI is now accurate * update refs
commaai · Oct 15, 2024 · af727d4 · af727d4
1 parent 9674c7b
commit af727d4
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -146,9 +146,10 @@ def update(self, sm):
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= 5.0
 
-    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
+    if not self.allow_throttle:
       # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-36bb37715542677db4a42464128ca10968f2c589
+4e595fcc2e8e4ef1564d915f697ddd9334067a7f