From e0ccc175e4b49dc389ede1bc522b7de64056e450 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 15 Oct 2025 00:59:40 -0400 Subject: [PATCH] liveMapDataSP: improve speed limit validation logic (#1383) --- sunnypilot/mapd/live_map_data/base_map_data.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py index 25925937f..723864dd2 100644 --- a/sunnypilot/mapd/live_map_data/base_map_data.py +++ b/sunnypilot/mapd/live_map_data/base_map_data.py @@ -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()