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Merge branch 'exp-hold-fix' into master-dev-c3

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This commit is contained in:
Jason Wen
2024-08-13 01:07:22 -04:00
parent 9a78cb4f16 0ced91c982
commit 2344718941
3 changed files with 7 additions and 20 deletions
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selfdrive/car/interfaces.py
-2
View File
@@ -244,8 +244,6 @@ class CarInterfaceBase(ABC):
self.cruise_cancelled_btn = True
self.prev_acc_mads_combo = False
self.mads_event_lock = True
self.gap_button_counter = 0
self.experimental_mode_hold = False
self.last_mads_init = 0.
self.madsEnabledInit = False
self.madsEnabledInitPrev = False
selfdrive/controls/controlsd.py
+7 -5
View File
@@ -733,16 +733,18 @@ class Controls:
# toggle experimental mode once on distance button hold
if self.CP.openpilotLongitudinalControl:
if self.v_cruise_helper.experimental_mode_update and self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \
not self.v_cruise_helper.experimental_mode_update:
self.experimental_mode = not self.experimental_mode
self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
self.v_cruise_helper.experimental_mode_update = True
# decrement personality on distance button press
if self.CP.openpilotLongitudinalControl:
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) and \
not self.v_cruise_helper.experimental_mode_update:
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
if not self.v_cruise_helper.experimental_mode_update:
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
self.v_cruise_helper.experimental_mode_update = False
return CC, lac_log
selfdrive/controls/lib/drive_helpers.py
-13
View File
@@ -107,9 +107,6 @@ class VCruiseHelper:
self._update_v_cruise_min(is_metric)
if CS.cruiseState.available:
if self.CP.openpilotLongitudinalControl:
self._update_experimental_mode(CS)
if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
@@ -274,16 +271,6 @@ class VCruiseHelper:
self.v_cruise_min = GM_V_CRUISE_MIN[is_metric]
self.is_metric_prev = is_metric
def _update_experimental_mode(self, CS):
for b in CS.buttonEvents:
if b.type == ButtonType.gapAdjustCruise and not b.pressed:
if self.button_timers[ButtonType.gapAdjustCruise] > CRUISE_LONG_PRESS:
return # end long press
break
else:
if self.button_timers[ButtonType.gapAdjustCruise] and self.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
self.experimental_mode_update = True
def clip_curvature(v_ego, prev_curvature, new_curvature):
v_ego = max(MIN_SPEED, v_ego)