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ui: only draw ahead speed limit if it's parsed from OSM (#1380)

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This commit is contained in:
Jason Wen
2025-10-14 11:40:42 -04:00
committed by GitHub
parent fec6382b96
commit d3e3628a95
3 changed files with 5 additions and 1 deletions
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selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+3 -1
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@@ -46,6 +46,7 @@ void HudRendererSP::updateState(const UIState &s) {
speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
@@ -547,7 +548,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
}
void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
if (!speed_limit_ahead) {
return;
}
selfdrive/ui/sunnypilot/qt/onroad/hud.h
+1
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@@ -83,6 +83,7 @@ private:
bool speedLimitValid;
bool speedLimitLastValid;
float speedLimitFinalLast;
cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
bool speedLimitAheadValid;
float speedLimitAhead;
float speedLimitAheadDistance;
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+1
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@@ -142,6 +142,7 @@ class SpeedLimitResolver:
self.limit_solutions[SpeedLimitSource.map] = speed_limit
self.distance_solutions[SpeedLimitSource.map] = 0.
# FIXME-SP: this is not working as expected
if 0. < next_speed_limit < self.v_ego:
adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2