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Update drive_helpers.py

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This commit is contained in:
eFini
2023-04-14 22:01:07 +08:00
committed by GitHub
parent 4c8fe7af7e
commit 0bb2cfda06
1 changed files with 9 additions and 11 deletions
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20
selfdrive/controls/lib/drive_helpers.py
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@@ -64,6 +64,7 @@ class VCruiseHelper:
self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
self.dp_override_cruise_speed_last = V_CRUISE_UNSET
self.dp_override_enabled_last = False
@property
def v_cruise_initialized(self):
@@ -80,25 +81,22 @@ class VCruiseHelper:
self.update_button_timers(CS, enabled)
else:
if dp_override_speed:
# when set speed changed, reset override_speed to unset
if CS.cruiseState.speed != self.dp_override_cruise_speed_last:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
# when override_speed is unset, use current speed as set speed
if enabled and not self.dp_override_enabled_last:
if CS.cruiseState.speed * CV.MS_TO_KPH < dp_override_speed:
self.dp_override_v_cruise_kph = clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN, V_CRUISE_MAX)
else:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
# when we have an override_speed, use it
if self.dp_override_v_cruise_kph != V_CRUISE_UNSET:
self.v_cruise_kph = self.dp_override_v_cruise_kph
self.v_cruise_cluster_kph = self.dp_override_v_cruise_kph
# when we have an override_speed, use it
if self.dp_override_v_cruise_kph != V_CRUISE_UNSET:
self.v_cruise_kph = self.dp_override_v_cruise_kph
self.v_cruise_cluster_kph = self.dp_override_v_cruise_kph
else:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
self.dp_override_cruise_speed_last = CS.cruiseState.speed
self.dp_override_enabled_last = enabled
else:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET