From 20eca71fc50b755fb29726fdc79d6718610aed7e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 9 Sep 2025 01:04:07 -0400 Subject: [PATCH] v_target --- .../lib/speed_limit_controller/speed_limit_controller.py | 8 ++++---- .../tests/test_speed_limit_controller.py | 2 +- 2 files changed, 5 insertions(+), 5 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 fd759f79d3..9e24168c22 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 @@ -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 diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py index 18b8e22d17..f4275ef761 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py @@ -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)