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This commit is contained in:
firestarsdog
2026-08-12 22:19:42 -04:00
parent cbf7f35c85
commit 1bf2717626
6 changed files with 212 additions and 9 deletions
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system/manager/manager.py
+8 -1
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@@ -45,6 +45,7 @@ from openpilot.starpilot.common.starpilot_variables import (
LEGACY_STARPILOT_STATS_KEY_RENAMES,
get_starpilot_toggles,
)
from openpilot.starpilot.navigation.destination_store import activate_next_drive_destination, is_next_drive_destination
_MANAGER_IMPORT_DONE = time.monotonic()
_manager_import_timing_line = (
@@ -135,7 +136,7 @@ def get_nav_offroad_clear_timeout_seconds(params) -> int:
def update_nav_offroad_clear_state(params, started: bool, tracked_destination, tracked_started_at, now: float):
nav_destination = params.get("NavDestination")
if started or not params.get_bool("ClearNavOnOffroad") or not nav_destination:
if started or not params.get_bool("ClearNavOnOffroad") or not nav_destination or is_next_drive_destination(nav_destination):
return None, None
if nav_destination != tracked_destination or tracked_started_at is None:
@@ -143,6 +144,9 @@ def update_nav_offroad_clear_state(params, started: bool, tracked_destination, t
tracked_started_at = now
if now - tracked_started_at >= get_nav_offroad_clear_timeout_seconds(params):
current_destination = params.get("NavDestination")
if current_destination != nav_destination or is_next_drive_destination(current_destination):
return None, None
params.remove("NavDestination")
return None, None
@@ -1152,6 +1156,9 @@ def manager_thread() -> None:
# StarPilot variables
params_memory.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
if started and not started_prev:
activate_next_drive_destination(params)
offroad_nav_destination, offroad_nav_started_at = update_nav_offroad_clear_state(
params, started, offroad_nav_destination, offroad_nav_started_at, time.monotonic()
)