mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-05 00:05:59 +08:00
Code Issues Packages Projects Releases Wiki Activity

We represent the Lollipop Guild

Browse Source
This commit is contained in:
firestarsdog
2026-05-19 19:18:39 -04:00
parent 5856e77f3b
commit 0b0f18399c
2 changed files with 1286 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/diagnose_slc_mapd.py
+1280
View File
File diff suppressed because it is too large Load Diff
starpilot/controls/lib/speed_limit_controller.py
+6 -3
View File
@@ -109,14 +109,17 @@ class SpeedLimitController:
return self.overridden_speed > target_with_offset or (gas_pressed and v_ego > target_with_offset)
def clear_override_for_source_limit(self, desired_source, desired_target, had_override):
if desired_source == "None" or desired_target <= 0 or not had_override:
if desired_source == "None" or desired_target <= 0:
return
if not had_override and self.overridden_speed <= 0:
return
# A new posted limit starts a new segment, so the previous segment's gas override
# should not carry through until the driver releases and reapplies the pedal.
self.override_slc = False
self.overridden_speed = 0
self.override_requires_gas_release = True
if had_override:
self.override_requires_gas_release = True
def get_mapbox_speed_limit(self, now, time_validated, v_ego, sm):
if not self.starpilot_planner.gps_valid or not self.mapbox_token or (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) >= 45:
@@ -436,7 +439,7 @@ class SpeedLimitController:
if not sm["carState"].gasPressed:
self.override_requires_gas_release = False
self.override_slc = self.overridden_speed > self.target + self.offset > 0
self.override_slc = self.overridden_speed > self.target + self.offset > 0 and v_ego > self.target + self.offset
self.override_slc |= not self.override_requires_gas_release and sm["carState"].gasPressed and v_ego > self.target + self.offset > 0
if self.override_slc: