From 814b623bfecf31ffcac84f5295cc3df1a6b8410f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 13 Sep 2024 08:48:42 -0400 Subject: [PATCH] simplify slc checks --- .../controllers.py | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py index 22f87bac98..71f41d2b23 100644 --- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py +++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py @@ -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