From 59b52126ee5413b8dcbf3af9fc1961b298a8ccc6 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Wed, 11 Nov 2020 10:04:28 +1000 Subject: [PATCH] update logic --- selfdrive/car/hyundai/interface.py | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 83142e53c..06c9d1338 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -198,7 +198,7 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) # dp self.dragonconf = dragonconf - if ret.vEgo > self.CP.minSteerSpeed: + if ret.vEgo >= self.CP.minSteerSpeed: ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl) ret.canValid = self.cp.can_valid and self.cp_cam.can_valid ret.lkMode = self.CS.lkMode @@ -208,13 +208,17 @@ class CarInterface(CarInterfaceBase): if not self.CS.lkMode: events.add(car.CarEvent.EventName.manualSteeringRequired) - # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) - if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: - self.low_speed_alert = True - if ret.vEgo > (self.CP.minSteerSpeed + 4.): - self.low_speed_alert = False - if self.low_speed_alert: - events.add(car.CarEvent.EventName.belowSteerSpeed) + if dragonconf.dpAtl: + if ret.vEgo < self.CP.minSteerSpeed: + events.add(car.CarEvent.EventName.belowSteerSpeed) + else: + # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) + if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: + self.low_speed_alert = True + if ret.vEgo > (self.CP.minSteerSpeed + 4.): + self.low_speed_alert = False + if self.low_speed_alert: + events.add(car.CarEvent.EventName.belowSteerSpeed) ret.events = events.to_msg()