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2024-02-06 01:08:15 -06:00
parent f931d2982e
commit 7853d218a3
12 changed files with 96 additions and 16 deletions
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11
selfdrive/controls/lib/drive_helpers.py
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@@ -56,7 +56,7 @@ class VCruiseHelper:
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
if not self.CP.pcmCruise or frogpilot_variables.CSLC:
# 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, reverse_cruise_increase, set_speed_offset)
self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -134,9 +134,14 @@ class VCruiseHelper:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
def initialize_v_cruise(self, CS, experimental_mode: bool, conditional_experimental_mode) -> None:
def initialize_v_cruise(self, CS, frogpilot_variables, experimental_mode: bool, conditional_experimental_mode) -> None:
# initializing is handled by the PCM
if self.CP.pcmCruise:
if self.CP.pcmCruise and not frogpilot_variables.CSLC:
return
if frogpilot_variables.CSLC:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = self.v_cruise_kph
return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not conditional_experimental_mode else V_CRUISE_INITIAL