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Revert "SLC: Fix rounding mismatch with MPH"

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This commit is contained in:
Jason Wen
2023-11-27 15:55:42 +00:00
parent c2142cdaad
commit ec748af4d0
1 changed files with 3 additions and 6 deletions
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selfdrive/controls/lib/sunnypilot/speed_limit_controller.py
+3 -6
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@@ -53,7 +53,6 @@ class SpeedLimitController:
self._v_cruise_rounded = 0.
self._v_cruise_prev_rounded = 0.
self._speed_limit_offsetted_rounded = 0.
self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
# Mapping functions to state transitions
self.state_transition_strategy = {
@@ -131,8 +130,6 @@ class SpeedLimitController:
self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8'))
self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8'))
self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8')))
self._is_metric = self._params.get_bool("IsMetric")
self._ms_to_local = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
self._resolver.change_policy(self._policy)
pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
self._engage_type = clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), 0, 1) if pcm_cruise_op_long else \
@@ -158,9 +155,9 @@ class SpeedLimitController:
self._op_enabled_prev = self._op_enabled
self._brake_pressed_prev = self._brake_pressed
self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._ms_to_local))
self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._ms_to_local))
self._speed_limit_offsetted_rounded = int(round(self._speed_limit + self.speed_limit_offset) * self._ms_to_local)
self._v_cruise_rounded = int(round(self._v_cruise_setpoint * CV.MS_TO_KPH))
self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * CV.MS_TO_KPH))
self._speed_limit_offsetted_rounded = int(round(self._speed_limit * CV.MS_TO_KPH)) + int(round(self.speed_limit_offset * CV.MS_TO_KPH))
def transition_state_from_inactive(self):
""" Make state transition from inactive state """