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This commit is contained in:
Jason Wen
2023-10-31 19:28:55 -04:00
parent 2ac06e8c5c
commit 95d111bb20
4 changed files with 9 additions and 6 deletions
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selfdrive/car/hyundai/carcontroller.py
+3 -3
View File
@@ -101,7 +101,7 @@ class CarController:
self.speeds = 0
self.v_target_plan = 0
self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
self.lead_distance = 0
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
@@ -136,7 +136,7 @@ class CarController:
if self.frame % 200 == 0:
self.speed_limit_control_enabled = self.param_s.get_bool("SpeedLimitControl")
self.is_metric = self.param_s.get_bool("IsMetric")
self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
@@ -453,7 +453,7 @@ class CarController:
target_speed_kph = set_speed_kph
else:
target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
if self.custom_planner_speed:
if self.custom_stock_planner_speed:
target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH)
if self.v_tsc_state != 0 or self.m_tsc_state > 1:
self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
selfdrive/controls/controlsd.py
+4 -1
View File
@@ -202,6 +202,7 @@ class Controls:
self.live_torque = self.params.get_bool("LiveTorque")
self.torqued_override = self.params.get_bool("TorquedOverride")
self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
self.process_not_running = False
@@ -908,11 +909,13 @@ class Controls:
self.prof.checkpoint("Ratekeeper", ignore=True)
self.is_metric = self.params.get_bool("IsMetric")
self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or not self.CP.pcmCruiseSpeed)
self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or
(not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed))
self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
if self.sm.frame % int(2.5 / DT_CTRL) == 0:
self.live_torque = self.params.get_bool("LiveTorque")
selfdrive/ui/qt/onroad.cc
+1 -1
View File
@@ -357,7 +357,7 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
void ExperimentalButton::changeMode() {
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = (hasLongitudinalControl(cp) || (cp.getCustomStockLongAvailable() && params.getBool("CustomStockLongPlanner")))
bool can_change = (hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner")))
&& params.getBool("ExperimentalModeConfirmed");
if (can_change) {
params.putBool("ExperimentalMode", !experimental_mode);
selfdrive/ui/qt/onroad_settings.cc
+1 -1
View File
@@ -134,7 +134,7 @@ void OnroadSettings::changeGapAdjustCruise() {
void OnroadSettings::changeDynamicExperimentalControl() {
UIScene &scene = uiState()->scene;
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = (hasLongitudinalControl(cp) || (cp.getCustomStockLongAvailable() && params.getBool("CustomStockLongPlanner")));
bool can_change = hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner"));
if (can_change) {
scene.dynamic_experimental_control = !scene.dynamic_experimental_control;
params.putBool("DynamicExperimentalControl", scene.dynamic_experimental_control);