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2024-05-18 02:11:26 -05:00
parent b8327c3dcd
commit a3de2347ad
2 changed files with 8 additions and 8 deletions
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2
selfdrive/controls/controlsd.py
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@@ -1239,7 +1239,7 @@ class Controls:
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
# CC.cruiseControl.resume = True
CC.cruiseControl.cancel = True
self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed)
self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# CC.actuators.speed
# print ("Alive")
return CC

12
selfdrive/ui/qt/onroad.cc
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@@ -622,15 +622,15 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
QColor center_lane_color;
if (is_no_lat_lane_change) {
center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
} else {
// if (is_no_lat_lane_change) {
// center_lane_color = bg_colors[CHANGE_LANE_PATH_COLOR];
// } else {
center_lane_color = bg_colors[CENTER_LANE_COLOR];
}
// }
QLinearGradient path_gradient(0, height(), 0, 0);
if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
// if (edgeColor != bg_colors[STATUS_DISENGAGED] || is_no_lat_lane_change) {
if (scene.acceleration_path) {
// The first half of track_vertices are the points for the right side of the path
// and the indices match the positions of accel from uiPlan
@@ -680,7 +680,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.setBrush(path_gradient);
painter.drawPolygon(scene.track_vertices);
}
// }
// Paint path edges ,Use current background color
if (edgeColor != bg_colors[STATUS_DISENGAGED]) {