Update long_mpc.py

CT921 · Aug 7, 2023 · a845ec7 · a845ec7
1 parent 7d13198
commit a845ec7
Showing 1 changed file with 18 additions and 18 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -358,26 +358,26 @@ def update_TF(self, carstate, personality=log.LongitudinalPersonality.standard):
     else:
       raise NotImplementedError("Longitudinal personality not supported")
 
-    self.adjustable_follow_car = True if (self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU)) else False
-    if self.adjustable_follow_car or personality is not None:
-      if self.adjustable_follow_car:
-        profile_key = carstate.distanceLines
-      else:
-        profile_key = op_profile_key
-
-      if profile_key == 1: # No Cut In
-        self.t_follow = 0.85
-        self.stop_distance = 3.5
-
-      elif profile_key == 2: # Relaxed
-        self.t_follow = T_FOLLOW
-        self.stop_distance = STOP_DISTANCE
+    # self.adjustable_follow_car = True if (self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU)) else False
+    # if self.adjustable_follow_car or personality is not None:
+      # if self.adjustable_follow_car:
+        # profile_key = carstate.distanceLines
+      # else:
+        # profile_key = op_profile_key
+
+    if op_profile_key == 1: # No Cut In
+      self.t_follow = 0.85
+      self.stop_distance = 3.5
+
+    elif op_profile_key == 2: # Relaxed
+      self.t_follow = T_FOLLOW
+      self.stop_distance = STOP_DISTANCE
 
-      elif profile_key == 3: # Let You Cut In
-        self.t_follow = 1.8
-        self.stop_distance = 5.5
+    elif op_profile_key == 3: # Let You Cut In
+      self.t_follow = 1.8
+      self.stop_distance = 5.5
 
-    else:
+  else:
       self.t_follow = T_FOLLOW
       self.stop_distance = STOP_DISTANCE