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This commit is contained in:
Jason Wen
2025-09-23 00:00:09 -04:00
parent 0a2a23e91f
commit abd545caf3
2 changed files with 4 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+2 -2
View File
@@ -25,7 +25,7 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
DISABLED_GUARD_PERIOD = 0.5 # secs.
PRE_ACTIVE_GUARD_PERIOD = 5 # secs. Time to wait after activation before considering temp deactivation signal.
PRE_ACTIVE_GUARD_PERIOD = 10 # secs. Time to wait after activation before considering temp deactivation signal.
LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide.
LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
@@ -215,7 +215,7 @@ class SpeedLimitAssist:
return enabled, active
def update_events(self, events_sp: EventsSP) -> None:
if self.state == SpeedLimitAssistState.preActive and self._state_prev != SpeedLimitAssistState.preActive:
if self.state == SpeedLimitAssistState.preActive:
events_sp.add(EventNameSP.speedLimitPreActive)
elif self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending:
sunnypilot/selfdrive/selfdrived/events.py
+2 -2
View File
@@ -37,7 +37,7 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
"Speed Limit Assist: Activation Required",
f"Manually change set speed to {max_initial_set_speed} {speed_unit} to activate",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.)
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
class EventsSP(EventsBase):
@@ -198,7 +198,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventNameSP.speedLimitPending: {
ET.WARNING: Alert(
"Automatically adjusting to the previous speed limit",
"Automatically adjusting to the last speed limit",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),