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liveMapDataSP: improve speed limit validation logic (#1383)

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This commit is contained in:
Jason Wen
2025-10-15 00:59:40 -04:00
committed by GitHub
parent 734151f59b
commit e0ccc175e4
1 changed files with 6 additions and 2 deletions
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sunnypilot/mapd/live_map_data/base_map_data.py
+6 -2
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@@ -8,8 +8,12 @@ from abc import abstractmethod, ABC
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.constants import CV
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.sunnypilot.navd.helpers import coordinate_from_param
MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
class BaseMapData(ABC):
def __init__(self):
@@ -46,9 +50,9 @@ class BaseMapData(ABC):
mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
live_map_data = mapd_sp_send.liveMapDataSP
live_map_data.speedLimitValid = bool(speed_limit > 0)
live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
live_map_data.speedLimit = speed_limit
live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
live_map_data.speedLimitAhead = next_speed_limit
live_map_data.speedLimitAheadDistance = next_speed_limit_distance
live_map_data.roadName = self.get_current_road_name()