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Accept resumeCruise for resuming prior speed setpoint (#24348)

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* accept two button types for resume

* retry CI

* Update selfdrive/controls/lib/drive_helpers.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 45f131e0e7d1df168295f180195a3b06aba87736
This commit is contained in:
Jason Young
2022-04-28 20:46:58 -04:00
committed by GitHub
parent 66454c000e
commit d82f65a1b7
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/drive_helpers.py
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@@ -79,7 +79,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents:
# 250kph or above probably means we never had a set speed
if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
if b.type in (car.CarState.ButtonEvent.Type.accelCruise, car.CarState.ButtonEvent.Type.resumeCruise) and v_cruise_last < 250:
return v_cruise_last
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))