From 6405a336e0d7f8b7161e23fece43adb5b1dc5a8b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 20 Sep 2025 03:50:57 -0400 Subject: [PATCH] wrong timer! --- .../controls/lib/speed_limit/speed_limit_assist.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) 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 d4822bf3e3..c3e431bdc1 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -195,10 +195,11 @@ class SpeedLimitAssist: # DISABLED elif self.state == SpeedLimitAssistState.disabled: if self.long_enabled and self.enabled: - if not self.long_enabled_prev: - self.pre_active_timer = int(DISABLED_GUARD_PERIOD / DT_MDL) + # start or reset preActive timer if initially enabled or manual set speed change detected + if not self.long_enabled_prev or self.v_cruise_cluster_changed: + self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL) - elif self.pre_active_timer <= 0: + 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