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use vCruiseCluster for set speed

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Jason Wen
2025-09-02 21:53:05 -04:00
parent e1ac6fef51
commit 87beff9cad
1 changed files with 2 additions and 1 deletions
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sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+2 -1
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@@ -53,7 +53,8 @@ class LongitudinalPlannerSP:
# Speed Limit Control
_speed_limit, _distance, _source = self.resolver.resolve(v_ego, sm)
v_cruise_slc = self.slc.update(sm['carControl'].longActive, v_ego, a_ego, v_cruise, _speed_limit, _distance, _source, self.events_sp)
v_cruise_slc = self.slc.update(sm['carControl'].longActive, v_ego, a_ego, sm['carState'].vCruiseCluster,
_speed_limit, _distance, _source, self.events_sp)
v_cruise_final = min(v_cruise, v_cruise_slc)