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This commit is contained in:
Jason Wen
2025-09-20 18:52:08 -04:00
parent 87aa26b2eb
commit 448468f5ef
2 changed files with 0 additions and 7 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
-4
View File
@@ -65,7 +65,6 @@ class SpeedLimitAssist:
self.v_offset = 0.
self.v_cruise_cluster = 0.
self.v_cruise_cluster_prev = 0.
self.initial_max_set = False
self._speed_limit = 0.
self._speed_limit_offset = 0.
self.speed_limit_prev = 0.
@@ -152,7 +151,6 @@ class SpeedLimitAssist:
if self.state != SpeedLimitAssistState.disabled:
if not self.long_enabled or not self.enabled:
self.state = SpeedLimitAssistState.disabled
self.initial_max_set = False
else:
# ACTIVE
@@ -180,7 +178,6 @@ class SpeedLimitAssist:
# PRE_ACTIVE
elif self.state == SpeedLimitAssistState.preActive:
if self.initial_max_set_confirmed():
self.initial_max_set = True
if self._speed_limit > 0:
if self.v_offset < LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.adapting
@@ -206,7 +203,6 @@ class SpeedLimitAssist:
elif self.long_engaged_timer <= 0:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.initial_max_set = False
enabled = self.state in ENABLED_STATES
active = self.state in ACTIVE_STATES
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
-3
View File
@@ -63,7 +63,6 @@ class TestSpeedLimitAssist:
self.sla.last_op_engaged_frame = 0
self.sla.op_engaged = False
self.sla.op_engaged_prev = False
self.sla.initial_max_set = False
self.sla._speed_limit = 0.
self.sla.speed_limit_prev = 0.
self.sla.last_valid_speed_limit_offsetted = 0.
@@ -207,8 +206,6 @@ class TestSpeedLimitAssist:
for state in test_states:
self.sla.state = state
self.sla.op_engaged = True
if state in [SpeedLimitAssistState.pending, SpeedLimitAssistState.active, SpeedLimitAssistState.adapting]:
self.sla.initial_max_set = True
initial_state = state