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Update drive_helpers.py

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This commit is contained in:
eFini
2023-04-14 10:46:07 +08:00
committed by GitHub
parent cf18a8fb09
commit a9f879e64d
1 changed files with 9 additions and 6 deletions
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selfdrive/controls/lib/drive_helpers.py
+9 -6
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@@ -92,15 +92,18 @@ class VCruiseHelper:
if self.dp_override_v_cruise_kph != V_CRUISE_UNSET:
self.v_cruise_kph = self.dp_override_v_cruise_kph
self.v_cruise_cluster_kph = self.dp_override_v_cruise_kph
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
self.dp_override_cruise_speed_last = CS.cruiseState.speed
else:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
self.dp_override_cruise_speed_last = CS.cruiseState.speed
else:
self.dp_override_v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
# handle button presses. TODO: this should be in state_control, but a decelCruise press