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Enhanced Speed Control: accelerator press state handling (#170)

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Enhanced Speed Control: accelerator press state handling
This commit is contained in:
Jason Wen
2023-06-06 21:00:21 -04:00
committed by GitHub
parent 8eafdd7058
commit bf0411be00
2 changed files with 4 additions and 2 deletions
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selfdrive/controls/lib/speed_limit_controller.py
+2 -1
View File
@@ -198,6 +198,7 @@ class SpeedLimitController():
self._is_metric = self._params.get_bool("IsMetric")
self._is_enabled = self._params.get_bool("SpeedLimitControl")
self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset")
self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator")
self._op_enabled = False
self._op_enabled_prev = False
self._v_ego = 0.
@@ -293,7 +294,7 @@ class SpeedLimitController():
# In any case, if op is disabled, or speed limit control is disabled
# or the reported speed limit is 0 or gas is pressed, deactivate.
if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or self._gas_pressed:
if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or (self._gas_pressed and self._disengage_on_accelerator):
self.state = SpeedLimitControlState.inactive
return
selfdrive/controls/lib/vision_turn_controller.py
+2 -1
View File
@@ -98,6 +98,7 @@ class VisionTurnController():
self._op_enabled = False
self._gas_pressed = False
self._is_enabled = self._params.get_bool("TurnVisionControl")
self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator")
self._last_params_update = 0.
self._v_cruise_setpoint = 0.
self._v_ego = 0.
@@ -217,7 +218,7 @@ class VisionTurnController():
def _state_transition(self):
# In any case, if system is disabled or the feature is disabeld or gas is pressed, disable.
if not self._op_enabled or not self._is_enabled or self._gas_pressed:
if not self._op_enabled or not self._is_enabled or (self._gas_pressed and self._disengage_on_accelerator):
self.state = VisionTurnControllerState.disabled
return