merge origin/nav-desires into nav-commacon

selfdrive/selfdrived/selfdrived.py

@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
                                    'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                  self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
@@ -293,7 +293,7 @@ class SelfdriveD(CruiseHelper):
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:
@@ -301,7 +301,7 @@ class SelfdriveD(CruiseHelper):
         else:
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
+                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
     # Handle lane turn
@@ -496,7 +496,7 @@ class SelfdriveD(CruiseHelper):
 
     # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
     if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
     return CS

sunnypilot/navd/navigation_helpers/nav_instructions.py

@@ -114,7 +114,7 @@ class NavigationInstructions:
       self.coord.latitude = current_lat
       self.coord.longitude = current_lon
       distance = self.coord.distance_to(progress['next_turn']['location'])
-      if distance <= 100:
+      if distance <= 30.0:
         modifier = progress['next_turn']['modifier']
         return str(modifier)
     return 'none'

sunnypilot/navd/navigation_helpers/tests/test_mapbox.py

@@ -61,7 +61,7 @@ class TestMapbox:
     if self.route['steps']:
       turn_lat = self.route['steps'][1]['location'].latitude
       turn_lon = self.route['steps'][1]['location'].longitude
-      close_lat = turn_lat - 0.0008  # 80 ish meters before the turn
+      close_lat = turn_lat - 0.00025  # slightly before the turn
       if self.progress and self.progress.get('next_turn'):
         expected_turn = self.progress['next_turn']['modifier']
         upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon)