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This commit is contained in:
Jason Wen
2025-09-25 01:17:33 -04:00
parent 6fe2d05ac8
commit 62756b4e1a
3 changed files with 7 additions and 7 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
+5
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@@ -12,3 +12,8 @@ PCM_LONG_REQUIRED_MAX_SET_SPEED = {
True: (33.3333, 36.1111), # km/h, (120, 130)
False: (31.2928, 35.7632), # mph, (70, 80)
}
CONFIRM_SPEED_THRESHOLD = {
True: 80, # km/h
False: 50, # mph
}
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+1 -5
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@@ -11,7 +11,7 @@ from openpilot.common.realtime import DT_MDL
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -31,10 +31,6 @@ LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers
LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers.
LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state.
V_CRUISE_UNSET = 255
CONFIRM_SPEED_THRESHOLD = {
True: 80, # km/h
False: 50, # mph
}
CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
sunnypilot/selfdrive/selfdrived/events.py
+1 -2
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@@ -3,8 +3,7 @@ from cereal import log, car, custom
from openpilot.common.constants import CV
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import CONFIRM_SPEED_THRESHOLD
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
AlertSize = log.SelfdriveState.AlertSize