brianhansonxyz/oscarpilot
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Increase max speed by 5 on short press

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Added function to increase the value of the max speed by 5 instead of 1 by taping the "Max" speed icon in the onroad UI.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent f4caa201cc
commit 72fac6ed9d
7 changed files with 40 additions and 14 deletions
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4
selfdrive/controls/controlsd.py
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@@ -513,7 +513,7 @@ class Controls:
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.reverse_cruise_increase)
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
@@ -980,6 +980,8 @@ class Controls:
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
self.reverse_cruise_increase = self.params.get_bool("ReverseCruise")
def main():
controls = Controls()
controls.controlsd_thread()

10
selfdrive/controls/lib/drive_helpers.py
View File

@@ -52,13 +52,13 @@ class VCruiseHelper:
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
def update_v_cruise(self, CS, enabled, is_metric):
def update_v_cruise(self, CS, enabled, is_metric, reverse_cruise_increase):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_cruise_increase)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS, enabled)
else:
@@ -68,13 +68,13 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_cruise_increase):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
if not enabled:
return
long_press = False
long_press = reverse_cruise_increase
button_type = None
v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
@@ -89,7 +89,7 @@ class VCruiseHelper:
for k in self.button_timers.keys():
if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
button_type = k
long_press = True
long_press = not reverse_cruise_increase
break
if button_type is None: