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SLC Bug

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firestar5683
2026-03-11 17:56:34 -05:00
parent c473cf96fe
commit e96cd128e6
1 changed files with 12 additions and 1 deletions
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selfdrive/controls/lib/drive_helpers.py
+12 -1
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@@ -50,6 +50,17 @@ class VCruiseHelper:
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
def _get_short_press_delta(self, is_metric, frogpilot_toggles):
base_delta = 1. if is_metric else IMPERIAL_INCREMENT
return base_delta * frogpilot_toggles.cruise_increase
def _normalize_initialized_v_cruise(self, v_cruise_kph, is_metric, frogpilot_toggles):
if frogpilot_toggles.cruise_increase % 5 != 0:
return v_cruise_kph
v_cruise_delta = self._get_short_press_delta(is_metric, frogpilot_toggles)
return round(round(v_cruise_kph / v_cruise_delta) * v_cruise_delta, 1)
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
@@ -154,7 +165,7 @@ class VCruiseHelper:
self.v_cruise_kph = self.v_cruise_kph_last
else:
if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit:
self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
self.v_cruise_kph = self._normalize_initialized_v_cruise(desired_speed_limit * CV.MS_TO_KPH, frogpilot_toggles.is_metric, frogpilot_toggles)
else:
self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))