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2024-04-27 13:44:34 -05:00
parent ea1aad5ed1
commit 2fbe9dbea1
25 changed files with 1501 additions and 532 deletions
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29
selfdrive/controls/lib/drive_helpers.py
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@@ -93,22 +93,18 @@ class VCruiseHelper:
long_press = True
break
# Reverse the long press value for reverse cruise increase
if frogpilot_variables.reverse_cruise_increase:
long_press = not long_press
if button_type is None:
return
# Confirm or deny the new speed limit value
if speed_limit_changed:
if button_type == ButtonType.accelCruise:
self.params_memory.put_bool("SLCConfirmed", True);
self.params_memory.put_bool("SLCConfirmedPressed", True);
self.params_memory.put_bool("SLCConfirmed", True)
self.params_memory.put_bool("SLCConfirmedPressed", True)
return
elif button_type == ButtonType.decelCruise:
self.params_memory.put_bool("SLCConfirmed", False);
self.params_memory.put_bool("SLCConfirmedPressed", True);
self.params_memory.put_bool("SLCConfirmed", False)
self.params_memory.put_bool("SLCConfirmedPressed", True)
return
# Don't adjust speed when pressing resume to exit standstill
@@ -120,13 +116,13 @@ class VCruiseHelper:
if not self.button_change_states[button_type]["enabled"]:
return
v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
v_cruise_delta_interval = frogpilot_variables.custom_cruise_increase_long if long_press else frogpilot_variables.custom_cruise_increase
v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# Apply offset
v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
if v_cruise_offset < 0:
v_cruise_offset = frogpilot_variables.set_speed_offset - v_cruise_delta
@@ -155,25 +151,20 @@ class VCruiseHelper:
if self.CP.pcmCruise:
return
if frogpilot_variables.conditional_experimental_mode:
initial = V_CRUISE_INITIAL
else:
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
# 250kph or above probably means we never had a set speed
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
self.v_cruise_kph = self.v_cruise_kph_last
else:
# Initial set speed
if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit:
# If there's a known speed limit and the corresponding FP toggle is set, push it to the car
self.v_cruise_kph = desired_speed_limit * CV.MS_TO_KPH
self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
else:
# Use fixed initial set speed from mode etc.
self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
self.v_cruise_cluster_kph = self.v_cruise_kph
def apply_deadzone(error, deadzone):
if error > deadzone:
error -= deadzone