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This commit is contained in:
Jason Wen
2025-09-25 00:39:53 -04:00
parent 2cca27fbb4
commit 40fd43b46f
1 changed files with 4 additions and 1 deletions
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sunnypilot/selfdrive/car/cruise_ext.py
+4 -1
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@@ -55,6 +55,7 @@ class VCruiseHelperSP:
# Speed Limit Assist
self.sla_state = SpeedLimitAssistState.disabled
self.prev_sla_state = SpeedLimitAssistState.disabled
self.has_speed_limit = False
self.speed_limit_final_last_kph = 0.
self.prev_speed_limit_final_last_kph = 0.
@@ -102,12 +103,14 @@ class VCruiseHelperSP:
return enabled
def update_speed_limit_assist(self, LP_SP: custom.LongitudinalPlanSP) -> None:
resolver = LP_SP.speedLimit.resolver
self.has_speed_limit = resolver.speedLimitValid or resolver.speedLimitLastValid
self.speed_limit_final_last_kph = LP_SP.speedLimit.resolver.speedLimitFinalLast * CV.MS_TO_KPH
self.sla_state = LP_SP.speedLimit.assist.state
@property
def update_speed_limit_final_last_changed(self) -> bool:
return bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
return self.has_speed_limit and bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
@property
def update_speed_limit_assist_pre_active_confirmed(self) -> bool: