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Jason Wen
2025-08-29 01:03:21 -04:00
parent 6bea163998
commit f2fe63fa5f
2 changed files with 3 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
-1
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@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
from cereal import messaging, custom
from opendbc.car import structs
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+3 -2
View File
@@ -4,9 +4,10 @@ import time
from cereal import messaging, custom
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
PARAMS_UPDATE_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState, PRE_ACTIVE_GUARD_PERIOD, REQUIRED_INITIAL_CRUISE_SPEED, \
CRUISE_SPEED_TOLERANCE, FALLBACK_CRUISE_SPEED
CRUISE_SPEED_TOLERANCE
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
@@ -118,7 +119,7 @@ class SpeedLimitController:
return self.last_valid_speed_limit_offsetted
# Fallback
return FALLBACK_CRUISE_SPEED
return V_CRUISE_UNSET
@property
def speed_limit_offset(self) -> float: