From 0306ba701b4f7bfc6ae5cce6e76351979c776166 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 5 Jun 2025 02:25:44 -0400 Subject: [PATCH] don't reset if gas pressed --- .../lib/speed_limit_controller/speed_limit_controller.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py index fe09880bdd..9a28611259 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py @@ -37,7 +37,6 @@ class SpeedLimitController: self._last_op_engaged_time = 0.0 self._is_metric = self._params.get_bool("IsMetric") self._is_enabled = self._params.get_bool("SpeedLimitControl") - self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator") self._op_engaged = False self._op_engaged_prev = False self._v_ego = 0. @@ -276,8 +275,7 @@ class SpeedLimitController: # In any case, if op is disabled, or speed limit control is disabled # or the reported speed limit is 0 or gas is pressed, deactivate. - if not self._op_engaged or not self._is_enabled or self._speed_limit == 0 or \ - (self._gas_pressed and self._disengage_on_accelerator): + if not self._op_engaged or not self._is_enabled or self._speed_limit == 0: self.state = SpeedLimitControlState.inactive return