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Update251203 (#233)

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carrot
2025-12-03 10:28:27 +09:00
committed by GitHub
parent d6899edd97
commit c5ebcbcb97
347 changed files with 8678 additions and 13489 deletions
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selfdrive/car/cruise.py
+15
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@@ -247,6 +247,7 @@ class VCruiseCarrot:
self.autoGasSyncSpeed = self.params.get_bool("AutoGasSyncSpeed") * unit_factor
self.autoSpeedUptoRoadSpeedLimit = self.params.get_float("AutoSpeedUptoRoadSpeedLimit") * 0.01
self.autoRoadSpeedAdjust = self.params.get_float("AutoRoadSpeedAdjust") * 0.01
self.smartSpeedControl = self.params.get_int("CarrotSmartSpeedControl")
useLaneLineSpeed = self.params.get_int("UseLaneLineSpeed") * unit_factor
if self.useLaneLineSpeed != useLaneLineSpeed:
@@ -441,6 +442,20 @@ class VCruiseCarrot:
return button_kph, button_type, self.long_pressed
def _carrot_command(self, v_cruise_kph, button_type, long_pressed):
carrot_speed = self.params_memory.get_int("CarrotSpeed")
if carrot_speed != 0:
if carrot_speed > 0:
if self.smartSpeedControl in [1,3]:
v_cruise_kph = max(carrot_speed, v_cruise_kph)
else:
if self.smartSpeedControl == 3:
v_cruise_kph = -carrot_speed
#elif self.smartSpeedControl == 1:
# v_cruise_kph = max(-carrot_speed, v_cruise_kph)
elif self.smartSpeedControl == 2:
v_cruise_kph = min(-carrot_speed, v_cruise_kph)
self.params_memory.put_int_nonblocking("CarrotSpeed", 0)
self._add_log(f"Carrot speed set to {v_cruise_kph}")
if self.carrot_cmd_index_last != self.carrot_cmd_index:
self.carrot_cmd_index_last = self.carrot_cmd_index
print(f"Carrot command(cruise.py): {self.carrot_cmd} {self.carrot_arg}")