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internalize output

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This commit is contained in:
Jason Wen
2025-08-26 20:34:17 -04:00
parent 863a8a43a9
commit 561210d2d2
2 changed files with 4 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+1 -3
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@@ -38,9 +38,7 @@ class LongitudinalPlannerSP:
def update_v_cruise(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> float:
self.events_sp.clear()
self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
v_cruise_slc = self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
v_cruise_final = min(v_cruise, v_cruise_slc)
sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+3 -1
View File
@@ -268,7 +268,7 @@ class SpeedLimitController:
elif self._speed_limit_changed != 0:
events_sp.add(EventNameSP.speedLimitValueChange)
def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> float:
_car_state = sm['carState']
self._op_engaged = sm['carControl'].longActive
self._v_ego = v_ego
@@ -283,3 +283,5 @@ class SpeedLimitController:
self._update_calculations()
self._state_transition()
self._update_events(events_sp)
return self.speed_limit_offseted