fix tests

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -67,6 +67,9 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +136,10 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -332,7 +332,7 @@ class SpeedLimitController:
     self._op_engaged = enabled and self._CP.openpilotLongitudinalControl
     self._v_ego = v_ego
     self._a_ego = a_ego
-    self._v_cruise_setpoint = v_cruise_setpoint
+    self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0
     self._gas_pressed = _car_state.gasPressed
     self._current_time = time.monotonic()
 

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py

@@ -51,16 +51,13 @@ class SpeedLimitResolver:
     self._get_from_map_data(sm)
 
   def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
-    if sm.updated['carStateSP']:
-      self._reset_limit_sources(Source.car_state)
-      self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
-      self._distance_solutions[Source.car_state] = 0.
+    self._reset_limit_sources(Source.car_state)
+    self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
+    self._distance_solutions[Source.car_state] = 0.
 
   def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
-    # Load limits from map_data
-    if sm.updated['liveMapDataSP']:
-      self._reset_limit_sources(Source.map_data)
-      self._process_map_data(sm)
+    self._reset_limit_sources(Source.map_data)
+    self._process_map_data(sm)
 
   def _process_map_data(self, sm: messaging.SubMaster) -> None:
     gps_data = sm[self._gps_location_service]