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loveks520 · Dec 12, 2020 · 55396eb · 55396eb
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commit 55396eb
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/dynamic_follow/__init__.py b/selfdrive/controls/lib/dynamic_follow/__init__.py
@@ -97,7 +97,7 @@ def _norm(self, x, name):
 
   def _change_cost(self, libmpc):
     TRs = [0.9, 1.8, 2.7]
-    costs = [1.0, 0.115, 0.05]
+    costs = [1.0, 0.12, 0.05]
     cost = interp(self.TR, TRs, costs)
     if self.last_cost != cost:
       libmpc.change_tr(MPC_COST_LONG.TTC, cost, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
@@ -337,4 +337,4 @@ def _get_live_params(self):
       self.min_TR, self.dp_dynamic_follow_min_tr_last_modified = param_get_if_updated("dp_dynamic_follow_min_tr", "float", self.min_TR, self.dp_dynamic_follow_min_tr_last_modified)
       if self.min_TR != .9:
         self.min_TR = clip(self.min_TR, .85, 1.6)
-      self.last_modified = self.modified
+      self.last_modified = self.modified
diff --git a/selfdrive/controls/lib/dynamic_gas.py b/selfdrive/controls/lib/dynamic_gas.py
@@ -57,7 +57,7 @@ def set_profile(self):
     x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326, 40]
     if self.dp_profile == DP_ECO:
       #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
-      y = [0.35587, 0.46747, 0.41816, 0.33261, 0.27844, 0.2718, 0.28184, 0.29106, 0.29785, 0.297, 0.29658, 0.30308, 0.31354, 0.34922, 0.39767, 0.44527, 0.4984]
+      y = [0.35587, 0.46747, 0.41816, 0.33261, 0.27844, 0.2718, 0.28184, 0.29106, 0.29785, 0.297, 0.29658, 0.30308, 0.31354, 0.34922, 0.39767, 0.40, 0.4284]
       self.x_lead_mod_x = [8.1, 12.15, 25.24, 35 , 50 ]
     elif self.dp_profile == DP_SPORT:
       #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]