mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-04 15:56:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

use constant max speed limit (#1521)

Browse Source
This commit is contained in:
eFini
2020-05-18 17:02:55 +10:00
committed by GitHub
parent 6daa255c44
commit 4b13a58a93
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/interfaces.py
+3 -1
View File
@@ -7,9 +7,11 @@ from selfdrive.car import gen_empty_fingerprint
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
# generic car and radar interfaces
@@ -102,7 +104,7 @@ class CarInterfaceBase():
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > 92 * CV.MPH_TO_MS:
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.steerError: