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simplify slc checks

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This commit is contained in:
Jason Wen
2024-09-13 08:48:42 -04:00
parent 72b36d5482
commit 814b623bfe
1 changed files with 2 additions and 15 deletions
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selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+2 -15
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@@ -91,11 +91,10 @@ class CustomStockLongitudinalControllerBase(ABC):
return False
def get_target_speed(self, v_cruise_kph_prev: float) -> float:
v_cruise_kph = v_cruise_kph_prev
if self.slc_state > SpeedLimitControlState.tempInactive:
v_cruise_kph = self.speed_limit_offseted * CV.MS_TO_KPH
if not self.slc_active_stock:
v_cruise_kph = v_cruise_kph_prev
else:
v_cruise_kph = v_cruise_kph_prev
return v_cruise_kph
def get_curve_speed(self, target_speed_kph: float, v_cruise_kph_prev: float) -> float:
@@ -166,18 +165,6 @@ class CustomStockLongitudinalControllerBase(ABC):
self.v_cruise_min = self.get_set_point(CS.params_list.is_metric)
if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
self.sl_force_active_timer = self.car.sm.frame
self.params.put_bool_nonblocking("LastSpeedLimitSignTap", False)
self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
sl_force_active = CS.params_list.speed_limit_control_enabled and (self.car.sm.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == SpeedLimitControlState.inactive else False))
sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == SpeedLimitControlState.tempInactive else False))
slc_active = not sl_inactive and not sl_temp_inactive
self.slc_active_stock = slc_active
can_sends = self.create_mock_button_messages(CS, CC)
return can_sends