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2024-02-08 14:28:00 -06:00
parent ad5e06b0ad
commit b5fd185742
3 changed files with 7 additions and 6 deletions
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7
selfdrive/car/hyundai/carcontroller.py
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@@ -156,7 +156,8 @@ class CarController:
# CSLC
if CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
cslcSetSpeed = get_set_speed(self, hud_v_cruise)
# cslcSetSpeed = get_set_speed(self, hud_v_cruise)
cslcSetSpeed = set_speed_in_units
self.cruise_button = get_cslc_button(self, cslcSetSpeed, CS)
if self.cruise_button != Buttons.NONE:
# if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
@@ -260,7 +261,7 @@ def get_set_speed(self, hud_v_cruise):
v_cruise = int(round(v_cruise_kph * CV.KPH_TO_MPH))
v_cruise_slc: int = 0
v_cruise_slc = params_memory.get_int("CSLCSpeed")
# v_cruise_slc = params_memory.get_int("CSLCSpeed")
if v_cruise_slc > 0:
v_cruise = v_cruise_slc
@@ -272,7 +273,7 @@ def get_cslc_button(self, cslcSetSpeed, CS):
if cslcSetSpeed < speedSetPoint and speedSetPoint > 25:
cruiseBtn = Buttons.SET_DECEL
elif cslcSetSpeed > speedSetPoint:
elif cslcSetSpeed > speedSetPoint and speedSetPoint < 75:
cruiseBtn = Buttons.RES_ACCEL
else:
cruiseBtn = Buttons.NONE