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try preventing startup false trigger

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This commit is contained in:
Jason Wen
2025-10-14 14:42:42 -04:00
parent 0975db3ff1
commit 999ea03f23
1 changed files with 4 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+4 -3
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@@ -28,7 +28,7 @@ class E2EAlertsHelper:
self.alert_allowed = False
self.green_light_alert_count = 0
self.last_lead_distance = -1
self.last_moving_frame = 0
self.last_moving_frame = -1
def _read_params(self) -> None:
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
@@ -46,11 +46,12 @@ class E2EAlertsHelper:
has_lead = sm['radarState'].leadOne.status
lead_dRel = sm['radarState'].leadOne.dRel
standstill = CS.standstill
moving = not standstill and CS.vEgo > 0.1
_allowed = standstill and not CS.gasPressed and not CC.enabled
if not standstill:
if moving:
self.last_moving_frame = self.frame
recent_moving = (self.frame - self.last_moving_frame) * DT_MDL < 2.0
recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
if standstill and not recent_moving:
self.alert_allowed = True