Scale speed to 98 percent

rpaulhanna · Dec 22, 2020 · 0302170 · 0302170
1 parent ccdde50
commit 0302170
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -503,6 +503,9 @@ def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.can_error_counter
 
+    if self.v_cruise_kph != 255:
+      controlsState.vCruise = controlsState.vCruise * 0.98
+
     if self.CP.lateralTuning.which() == 'pid':
       controlsState.lateralControlState.pidState = lac_log
     elif self.CP.lateralTuning.which() == 'lqr':