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This commit is contained in:
Jason Wen
2025-09-23 01:02:43 -04:00
parent aab8b5f8b2
commit 152b58a8a3
1 changed files with 3 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+3 -3
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@@ -137,7 +137,7 @@ class SpeedLimitAssist:
def get_active_state_target_acceleration(self) -> float:
return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
def _update_pcm_op_long_state(self):
def _update_pcm_long_confirmed_state(self):
if self._speed_limit > 0:
if self.v_offset < LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.adapting
@@ -183,7 +183,7 @@ class SpeedLimitAssist:
# PRE_ACTIVE
elif self.state == SpeedLimitAssistState.preActive:
if self.initial_max_set_confirmed():
self._update_pcm_op_long_state()
self._update_pcm_long_confirmed_state()
elif self.pre_active_timer <= PRE_ACTIVE_GUARD_PERIOD:
# Timeout - session ended
self.state = SpeedLimitAssistState.inactive
@@ -201,7 +201,7 @@ class SpeedLimitAssist:
elif self.long_engaged_timer <= 0:
if self.initial_max_set_confirmed():
self._update_pcm_op_long_state()
self._update_pcm_long_confirmed_state()
else:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)