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My Collar's Blue & My Neck's Red

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firestar5683
2026-06-03 16:04:14 -05:00
parent 3027988a4d
commit e3e4542ef2
3 changed files with 20 additions and 3 deletions
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selfdrive/car/card.py
+6 -1
View File
@@ -398,12 +398,16 @@ class Car:
def _get_redneck_target_speed(self, CS: car.CarState) -> float:
starpilot_target_speed = 0.0
allow_plan_decrease = False
if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
plan_speeds = []
if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
plan_speeds = [float(speed) for speed in self.sm['longitudinalPlan'].speeds if math.isfinite(float(speed))]
longitudinal_plan = self.sm['longitudinalPlan']
plan_speeds = [float(speed) for speed in longitudinal_plan.speeds if math.isfinite(float(speed))]
allow_plan_decrease = bool(longitudinal_plan.hasLead or longitudinal_plan.shouldStop or
str(longitudinal_plan.longitudinalPlanSource) != "cruise")
return select_redneck_target_speed(
float(getattr(CS, "vCruise", 0.0)),
@@ -411,6 +415,7 @@ class Car:
starpilot_target_speed,
plan_speeds,
REDNECK_DECREASE_LOOKAHEAD_POINTS,
allow_plan_decrease=allow_plan_decrease,
)
def _advance_redneck_button_feedback_filter(self) -> None:
selfdrive/car/redneck_cruise.py
+2 -2
View File
@@ -25,14 +25,14 @@ CRUISE_BUTTON_TIMERS = {
def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
starpilot_target_speed_ms: float, plan_speeds_ms: list[float],
lookahead_points: int) -> float:
lookahead_points: int, allow_plan_decrease: bool = True) -> float:
target_speed_ms = float(speed_cluster_ms)
if v_cruise_kph > 0:
target_speed_ms = float(v_cruise_kph) * CV.KPH_TO_MS
elif starpilot_target_speed_ms > 0:
target_speed_ms = float(starpilot_target_speed_ms)
if len(plan_speeds_ms) > 0:
if allow_plan_decrease and len(plan_speeds_ms) > 0:
decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
if decrease_target_speed_ms < min(target_speed_ms, float(speed_cluster_ms)):
return decrease_target_speed_ms
selfdrive/car/tests/test_redneck_cruise.py
+12
View File
@@ -119,6 +119,17 @@ class TestRedneckCruise(unittest.TestCase):
)
self.assertAlmostEqual(120.0 * CV.KPH_TO_MS, target_speed)
def test_target_speed_ignores_plan_drift_during_free_cruise(self):
target_speed = select_redneck_target_speed(
104.4,
63.0 * CV.MPH_TO_MS,
0.0,
[62.55 * CV.MPH_TO_MS, 62.44 * CV.MPH_TO_MS, 62.36 * CV.MPH_TO_MS],
10,
allow_plan_decrease=False,
)
self.assertAlmostEqual(104.4 * CV.KPH_TO_MS, target_speed)
def test_target_speed_returns_plan_minimum_when_slowing_down(self):
target_speed = select_redneck_target_speed(
120.0,
@@ -126,6 +137,7 @@ class TestRedneckCruise(unittest.TestCase):
0.0,
[74.0 * CV.MPH_TO_MS, 72.0 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
10,
allow_plan_decrease=True,
)
self.assertAlmostEqual(71.0 * CV.MPH_TO_MS, target_speed)