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Speed Limit Assist: Disable for Rivian (#1421)

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* Speed Limit Assist: Disable for Tesla in release

* add test

* unused

* use constant

* eh

* flip

* universal it

* check release state and align in tests

* use this

* eh

* update changelog

* Speed Limit Assist: Disable for Rivian

* desc

* changelog
This commit is contained in:
Jason Wen
2025-10-23 03:48:04 -04:00
committed by GitHub
parent 1c89e2b885
commit 5d47ffdb8a
4 changed files with 11 additions and 6 deletions
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CHANGELOG.md
+1 -1
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@@ -17,7 +17,7 @@ sunnypilot Version 2025.001.000 (2025-10-25)
* Intelligent longitudinal control adaptation
* Speed Limit Assist (SLA)
* Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
* Currently disabled for Tesla with sunnypilot Longitudinal Control in release
* Currently disabled for Tesla with sunnypilot Longitudinal Control in release and Rivian with sunnypilot Longitudinal Control in all branches
* May return in future releases
* Intelligent Cruise Button Management (ICBM)
* System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+4 -2
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@@ -128,10 +128,12 @@ void SpeedLimitSettings::refresh() {
/*
* Speed Limit Assist is available when:
* - has_longitudinal_control or has_icbm, and
* - is not a release branch or not a disallowed brand
* - is not a release branch or not a disallowed brand, and
* - is not always disallowed
*/
bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release;
bool sla_always_disallow = CP.getBrand() == "rivian";
sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+2 -1
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@@ -28,9 +28,10 @@ def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarPara
is_release = params.get_bool("IsReleaseSpBranch")
disallow_in_release = CP.brand == "tesla" and is_release
always_disallow = CP.brand == "rivian"
allowed = True
if disallow_in_release:
if disallow_in_release or always_disallow:
allowed = False
if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+4 -2
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@@ -9,6 +9,7 @@ import pytest
from cereal import custom
from opendbc.car.car_helpers import interfaces
from opendbc.car.rivian.values import CAR as RIVIAN
from opendbc.car.tesla.values import CAR as TESLA
from opendbc.car.toyota.values import CAR as TOYOTA
from openpilot.common.constants import CV
@@ -104,11 +105,12 @@ class TestSpeedLimitAssist:
assert not self.sla.is_active
assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
@pytest.mark.parametrize("car_name", [TESLA.TESLA_MODEL_Y], indirect=True)
@pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
def test_disallowed_brands(self, car_name):
"""
Speed Limit Assist is disabled for the following brands and conditions:
- All Tesla and is a release branch
- All Tesla and is a release branch;
- All Rivian
"""
assert not self.sla.enabled