Merge pull request #138 from ShaneSmiskol/dynamic-follow

Testing pedal code
sshane · Mar 29, 2019 · b5f32f7 · b5f32f7
2 parents 233fb08 + 525d398
commit b5f32f7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
@@ -267,7 +267,7 @@ def update(self, CS, lead, v_cruise_setpoint):
 
     # Calculate mpc
     t = sec_since_boot()
-    if CS.vEgo < 2.0 and CS.readdistancelines != 2 and self.gas_interceptor:  # if under 2m/s, not dynamic follow, and user has comma pedal
+    if CS.vEgo < 2.0 and CS.readdistancelines != 2:  # if under 2m/s, not dynamic follow, and user has comma pedal
       TR=1.8 # under 7.2km/hr use a TR of 1.8 seconds
       #if self.lastTR > 0:
         #self.libmpc.init(MPC_COST_LONG.TTC, 0.1, PC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)