revert some AHB test code

SippieCup · Nov 21, 2019 · ca1d7d2 · ca1d7d2
1 parent bf990b2
commit ca1d7d2
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h
@@ -1783,7 +1783,7 @@ static void tesla_fwd_to_radar_modded(int bus_num, CAN_FIFOMailBox_TypeDef *to_f
     }
     // is AHB is enabled, use low apeed to spread radar angle
     if ((speed_kph > 2 ) && (DAS_ahb_is_enabled == 1)) {
-      speed_kph = 2;
+    //  speed_kph = 2;
     }
     if (((0xFFF0000 & to_send.RDLR) >> 16) == 0xFFF) {
       speed_kph = 0x1FFF; //0xFFF is signal not available for DI_Torque2 speed 0x118; should be SNA or 0x1FFF for 0x169

diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
@@ -26,7 +26,7 @@
 #for AHB radar is forced in low speed mode that widents the angle and reduces distance
 #in these cases at night we will rely on visual radar to detect the lead car
 AHB_VALID_MESSAGE_COUNT_THRESHOLD = 4 # -1 to use any point
-AHB_OBJECT_MIN_PROBABILITY = 10. # 0. to use any point
+AHB_OBJECT_MIN_PROBABILITY = 20. # 0. to use any point
 AHB_CLASS_MIN_PROBABILITY = 10. # 0. to use any point
 AHB_STATIONARY_MARGIN = 1.8 # m/s
 AHB_DEBUG = False