From a9f879e64d892bc87942211237157fdf07ba0d33 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 14 Apr 2023 10:46:07 +0800 Subject: [PATCH] Update drive_helpers.py --- selfdrive/controls/lib/drive_helpers.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index a0a8f1fb7..b518841ff 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -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