James
39 lines
1.3 KiB
Python
39 lines
1.3 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.constants import CV
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from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED
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from openpilot.frogpilot.controls.lib.curve_speed_controller import CurveSpeedController
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class FrogPilotVCruise:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.csc = CurveSpeedController(self)
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def update(self, long_control_active, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
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v_cruise_cluster = max(sm["carState"].vCruiseCluster * CV.KPH_TO_MS, v_cruise)
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v_cruise_diff = v_cruise_cluster - v_cruise
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v_ego_cluster = max(sm["carState"].vEgoCluster, v_ego)
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v_ego_diff = v_ego_cluster - v_ego
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# FrogsGoMoo's Curve Speed Controller
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if long_control_active and v_ego > CRUISING_SPEED and self.frogpilot_planner.road_curvature_detected and frogpilot_toggles.curve_speed_controller:
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self.csc.update_target(v_ego)
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self.csc_controlling_speed = True
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self.csc_target = self.csc.target
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else:
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self.csc.log_data(long_control_active, v_ego, sm)
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self.csc_controlling_speed = False
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self.csc.target_set = False
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self.csc_target = v_cruise
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targets = [self.csc_target, v_cruise]
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v_cruise = min([target if target >= CRUISING_SPEED else v_cruise for target in targets])
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return v_cruise
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