mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-29 10:43:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'e2e-alerts-cooldown' into hkg-angle-steering-2025

Browse Source
This commit is contained in:
Jason Wen
2025-10-14 14:31:59 -04:00
parent da93f92887 8d70a8b80a
commit 0975db3ff1
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+5 -5
View File
@@ -46,7 +46,7 @@ class E2EAlertsHelper:
has_lead = sm['radarState'].leadOne.status
lead_dRel = sm['radarState'].leadOne.dRel
standstill = CS.standstill
_allowed = standstill and not CS.gasPressed
_allowed = standstill and not CS.gasPressed and not CC.enabled
if not standstill:
self.last_moving_frame = self.frame
@@ -61,13 +61,13 @@ class E2EAlertsHelper:
# Green Light Alert
_green_light_alert = False
if _allowed and not has_lead and not CC.enabled and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
if self.green_light_alert_enabled and _allowed and not has_lead and model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
if self.alert_allowed:
self.green_light_alert_count += 1
else:
self.green_light_alert_count = 0
if self.green_light_alert_enabled and self.green_light_alert_count > 2 and self.alert_allowed:
if self.green_light_alert_count > 2 and self.alert_allowed:
_green_light_alert = True
self.alert_allowed = False
else:
@@ -77,11 +77,11 @@ class E2EAlertsHelper:
# Lead Departure Alert
_lead_depart_alert = False
if _allowed and has_lead and CC.enabled:
if self.lead_depart_alert_enabled and _allowed and has_lead:
if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
self.last_lead_distance = lead_dRel
if self.lead_depart_alert_enabled and self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > 1.0) and self.alert_allowed:
_lead_depart_alert = True
self.alert_allowed = False