mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-01 05:33:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Controls - Quality of Life - Cruise Increase Interval

Browse Source 
Set a custom interval to increase the max set speed by.
This commit is contained in:
FrogAi
2024-06-07 12:37:04 -07:00
parent 25e22ad2c2
commit 1f9708b962
2 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -476,7 +476,7 @@ class Controls:
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.frogpilot_toggles)
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
selfdrive/controls/lib/drive_helpers.py
+6 -5
View File
@@ -53,13 +53,13 @@ class VCruiseHelper:
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
def update_v_cruise(self, CS, enabled, is_metric):
def update_v_cruise(self, CS, enabled, is_metric, frogpilot_toggles):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self._update_v_cruise_non_pcm(CS, enabled, is_metric, frogpilot_toggles)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
else:
@@ -69,7 +69,7 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, frogpilot_toggles):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
if not enabled:
@@ -105,8 +105,9 @@ class VCruiseHelper:
if not self.button_change_states[button_type]["enabled"]:
return
v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
v_cruise_delta_interval = frogpilot_toggles.custom_cruise_increase_long if long_press else frogpilot_toggles.custom_cruise_increase
v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]