From 3fe2ec883f48de214f736a0dce02176d2ff026e3 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 31 Aug 2025 10:11:41 -0400 Subject: [PATCH] no --- .../lib/speed_limit_controller/speed_limit_controller.py | 6 +----- 1 file changed, 1 insertion(+), 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 c207036bd6..219ddb135a 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 @@ -178,10 +178,6 @@ class SpeedLimitController: # Update current velocity offset (error) self.v_offset = self.speed_limit_offseted - self.v_ego - # Track the time op becomes active to prevent going to tempInactive right away after - # op enabling since controlsd will change the cruise speed every time on enabling and this will - # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise - # speed. if not self.op_engaged_prev and self.op_engaged: self.last_op_engaged_frame = self.frame @@ -189,7 +185,7 @@ class SpeedLimitController: self.speed_limit_changed = self._speed_limit != self.speed_limit_prev self.v_cruise_setpoint_changed = self.v_cruise_setpoint != self.v_cruise_setpoint_prev self.speed_limit_prev = self._speed_limit - self.update_v_cruise_setpoint_prev() # always for Engage.auto + self.update_v_cruise_setpoint_prev() self.op_engaged_prev = self.op_engaged def transition_state_from_inactive(self) -> None: