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lower model FCW + stock longitudinal threshold to -1.25m/s^2 #23915

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Merged
pd0wm merged 1 commit into from
Mar 7, 2022
Merged

lower model FCW + stock longitudinal threshold to -1.25m/s^2 #23915

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2 changes: 1 addition & 1 deletion selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,7 @@ def update_events(self, CS):
self.events.add(EventName.cruiseMismatch)

# Check for FCW
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
if planner_fcw or model_fcw:
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