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Merge branch 'devel-en' into devel-zht

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dragonpilot
2019-10-25 09:18:30 +10:00
parent b7e0f4cca4 9e1db5ee4a
commit 8698cc0c66
1 changed files with 5 additions and 9 deletions
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selfdrive/controls/controlsd.py
+5 -9
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@@ -523,7 +523,6 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
dragon_display_steering_limit_alert = True
dragon_stopped_has_lead_count = 0
dragon_lead_car_moving_alert = False
dragon_send_lead_car_moving_alert = False
while True:
# dragonpilot, don't check for param too often as it's a kernel call
@@ -573,22 +572,19 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
if dragon_lead_car_moving_alert:
# when car has a lead and is standstill and lead is barely moving, we start counting
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.1 and 0.1 > sm['plan'].vTarget >= 0:
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.2 >= abs(sm['plan'].vTarget) >= 0:
dragon_stopped_has_lead_count += 1
else:
dragon_stopped_has_lead_count = 0
# when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
# once the condition is triggered, we want to keep the trigger
if dragon_stopped_has_lead_count >= 100 and sm['plan'].vTargetFuture >= 0.1:
dragon_send_lead_car_moving_alert = True
if dragon_stopped_has_lead_count >= 50 and abs(sm['plan'].vTargetFuture) >= 0.1:
events.append(create_event('leadCarMoving', [ET.WARNING]))
# we remove alert once our car is moving
if CS.vEgo >= 0.1:
dragon_send_lead_car_moving_alert = False
if dragon_send_lead_car_moving_alert:
events.append(create_event('leadCarMoving', [ET.WARNING]))
if CS.vEgo > 0.:
dragon_stopped_has_lead_count = 0
if not read_only:
# update control state