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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 # CSLC
if CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE: 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) self.cruise_button = get_cslc_button(self, cslcSetSpeed, CS)
if self.cruise_button != Buttons.NONE: if self.cruise_button != Buttons.NONE:
# if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR: # 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 = int(round(v_cruise_kph * CV.KPH_TO_MPH))
v_cruise_slc: int = 0 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: if v_cruise_slc > 0:
v_cruise = v_cruise_slc v_cruise = v_cruise_slc
@@ -272,7 +273,7 @@ def get_cslc_button(self, cslcSetSpeed, CS):
if cslcSetSpeed < speedSetPoint and speedSetPoint > 25: if cslcSetSpeed < speedSetPoint and speedSetPoint > 25:
cruiseBtn = Buttons.SET_DECEL cruiseBtn = Buttons.SET_DECEL
elif cslcSetSpeed > speedSetPoint: elif cslcSetSpeed > speedSetPoint and speedSetPoint < 75:
cruiseBtn = Buttons.RES_ACCEL cruiseBtn = Buttons.RES_ACCEL
else: else:
cruiseBtn = Buttons.NONE cruiseBtn = Buttons.NONE

2
selfdrive/frogpilot/functions/conditional_experimental_mode.py
View File

@@ -135,7 +135,7 @@ class ConditionalExperimentalMode:
self.lead_detection(radarState) self.lead_detection(radarState)
self.road_curvature(modelData, v_ego) self.road_curvature(modelData, v_ego)
self.slow_lead(mpc, radarState, v_ego) self.slow_lead(mpc, radarState, v_ego)
self.stop_sign_and_light(modelData, v_ego) # self.stop_sign_and_light(modelData, v_ego)
self.v_ego_slowing_down(v_ego) self.v_ego_slowing_down(v_ego)
self.v_lead_slowing_down(mpc, radarState) self.v_lead_slowing_down(mpc, radarState)

4
selfdrive/frogpilot/functions/frogpilot_planner.py
View File

@@ -106,7 +106,7 @@ class FrogPilotPlanner:
self.x_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, mpc.x_solution) self.x_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, mpc.x_solution)
self.x_desired_trajectory = self.x_desired_trajectory_full[:CONTROL_N] self.x_desired_trajectory = self.x_desired_trajectory_full[:CONTROL_N]
self.params_memory.put_int("CSLCSpeed", int(round(self.v_cruise * CV.MS_TO_MPH))) # self.params_memory.put_int("CSLCSpeed", int(round(self.v_cruise * CV.MS_TO_MPH)))
def update_v_cruise(self, carState, controlsState, modelData, enabled, v_cruise, v_ego): def update_v_cruise(self, carState, controlsState, modelData, enabled, v_cruise, v_ego):
# Pfeiferj's Map Turn Speed Controller # Pfeiferj's Map Turn Speed Controller
@@ -212,7 +212,7 @@ class FrogPilotPlanner:
def update_frogpilot_params(self, params, params_memory): def update_frogpilot_params(self, params, params_memory):
self.is_metric = params.get_bool("IsMetric") self.is_metric = params.get_bool("IsMetric")
self.CSLC = params.get_bool("CSLCEnabled") # self.CSLC = params.get_bool("CSLCEnabled")
self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath") self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")