From c9c78447520146373f1b3f704b82ea294eb0bd0d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 25 Sep 2025 07:38:08 -0400 Subject: [PATCH] change up checks for user confirm --- .../controls/lib/speed_limit/speed_limit_assist.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py index dd25154795..04abdc642b 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -162,14 +162,16 @@ class SpeedLimitAssist: if self.target_set_speed_confirmed: return True - if self.state != SpeedLimitAssistState.preActive: - return False + if self.state == SpeedLimitAssistState.preActive: + req_plus = self.target_set_speed_conv > self.v_cruise_cluster_conv + req_minus = self.target_set_speed_conv < self.v_cruise_cluster_conv + expected = CRUISE_BUTTONS_PLUS if req_plus else CRUISE_BUTTONS_MINUS if req_minus else () - req_plus = self.target_set_speed_conv > self.v_cruise_cluster_conv - req_minus = self.target_set_speed_conv < self.v_cruise_cluster_conv - expected = CRUISE_BUTTONS_PLUS if req_plus else CRUISE_BUTTONS_MINUS if req_minus else () + for b in CS.buttonEvents: + if b.type in expected and not b.pressed: + return True - return any(b.type in expected and not b.pressed for b in CS.buttonEvents) + return False def update_state_machine_pcm_op_long(self): self.long_engaged_timer = max(0, self.long_engaged_timer - 1)