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v_target

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This commit is contained in:
Jason Wen
2025-09-09 01:04:07 -04:00
parent 27e112e70c
commit 20eca71fc5
2 changed files with 5 additions and 5 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+4 -4
View File
@@ -93,8 +93,7 @@ class SpeedLimitController:
def source(self) -> Source:
return self._source
@property
def final_cruise_speed(self) -> float:
def get_v_target_from_control(self) -> float:
if self.is_active:
# If we have a current valid speed limit, use it
if self._speed_limit > 0:
@@ -264,7 +263,8 @@ class SpeedLimitController:
self.speed_limit_prev = self._speed_limit
self.v_cruise_setpoint_prev = self.v_cruise_setpoint
self.op_engaged_prev = self.op_engaged
self.frame += 1
return self.final_cruise_speed
v_target = self.get_v_target_from_control()
return v_target
sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py
+1 -1
View File
@@ -81,7 +81,7 @@ class TestSpeedLimitController:
assert self.slc.state == SpeedLimitControlState.disabled
assert not self.slc.is_enabled
assert not self.slc.is_active
assert self.slc.final_cruise_speed == V_CRUISE_UNSET
assert V_CRUISE_UNSET == self.slc.get_v_target_from_control()
def test_disabled(self):
self.params.put_bool("SpeedLimitControl", False)