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Update cruise.py

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infiniteCable
2025-04-26 11:55:21 +02:00
committed by GitHub
parent 18177aff08
commit 7d00fefba9
1 changed files with 6 additions and 4 deletions
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selfdrive/car/cruise.py
+6 -4
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@@ -42,13 +42,14 @@ class VCruiseHelper:
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
def update_v_cruise(self, CS, enabled, is_metric):
def update_v_cruise(self, CS, enabled, is_metric, speed_limit_control=False):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_speed_limit(CS, enabled)
self._update_v_speed_limit(CS, enabled, speed_limit_control)
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
@@ -65,12 +66,13 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
def _update_v_speed_limit(self, CS, enabled):
if not enabled:
def _update_v_speed_limit(self, CS, enabled, speed_limit_control):
if not enabled or not speed_limit_control:
return
speed_limit = CS.cruiseState.speedLimit * CV.MS_TO_KPH
if speed_limit != self.v_speed_limit_kph and speed_limit != 0:
self.v_speed_limit_kph = speed_limit
self.v_cruise_kph = speed_limit
self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)