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skip preActive if init max speed was already reached

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This commit is contained in:
Jason Wen
2025-09-20 18:53:54 -04:00
parent 448468f5ef
commit 37b391a643
1 changed files with 11 additions and 2 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+11 -2
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@@ -201,8 +201,17 @@ class SpeedLimitAssist:
self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
elif self.long_engaged_timer <= 0:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
if self.initial_max_set_confirmed():
if self._speed_limit > 0:
if self.v_offset < LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.adapting
else:
self.state = SpeedLimitAssistState.active
else:
self.state = SpeedLimitAssistState.pending
else:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
enabled = self.state in ENABLED_STATES
active = self.state in ACTIVE_STATES