From 62756b4e1ae80a67f53759499e75086144ee9ab8 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 25 Sep 2025 01:17:33 -0400 Subject: [PATCH] circular --- sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py | 5 +++++ .../controls/lib/speed_limit/speed_limit_assist.py | 6 +----- sunnypilot/selfdrive/selfdrived/events.py | 3 +-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py index 9c1254a5d6..22ea75fe19 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py @@ -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 +} diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py index 687f19d19d..dd25154795 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -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) diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py index e1126fb10a..8e5907bff9 100644 --- a/sunnypilot/selfdrive/selfdrived/events.py +++ b/sunnypilot/selfdrive/selfdrived/events.py @@ -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