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SLC Alert QoL

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firestarsdog
2026-09-06 02:04:33 -04:00
parent 7f1f926c47
commit 422488562f
1 changed files with 15 additions and 4 deletions
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starpilot/controls/lib/speed_limit_controller.py
+15 -4
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@@ -444,15 +444,26 @@ class SpeedLimitController:
return
current_road_name = sm["mapdOut"].roadName if desired_source == "Map Data" else ""
current_speed = self.target if (self.source != "None" and self.target > 0) else self.last_valid_limit
if abs(desired_target - self.previous_target) >= 1 or (current_road_name != self.previous_road_name and current_road_name != ""):
# Do not trigger alerts when shifting to fallback or when re-obtaining the same speed limit
is_fallback = desired_source == "None" or desired_target == 0
same_speed = desired_target > 0 and current_speed > 0 and abs(desired_target - current_speed) < 1
if not is_fallback and not same_speed and (abs(desired_target - self.previous_target) >= 1 or current_speed == 0):
self.handle_limit_change(desired_source, desired_target, current_road_name, v_ego, sm)
elif desired_source != self.source and (abs(desired_target - self.target) < 1 or self.target == 0):
self.source = desired_source
self.target = desired_target
else:
self.speed_limit_changed_timer = 0
self.unconfirmed_speed_limit = 0
if desired_source != self.source or desired_target != self.target:
self.source = desired_source
self.target = desired_target
if desired_source != "None" and desired_target > 0:
self.previous_source = desired_source
self.previous_target = desired_target
if current_road_name != self.previous_road_name and current_road_name != "":
self.previous_road_name = current_road_name
self.denied_target = 0
if self.source != "None" and self.target > 0:
self.last_valid_limit = self.target