brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Quality of life toggles

Browse Source 
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>

Update visual_settings.cc
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent f0eef503f3
commit f71e0b629f
15 changed files with 138 additions and 56 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
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, reverse_cruise_increase):
def update_v_cruise(self, CS, enabled, is_metric, reverse_cruise_increase, set_speed_offset):
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, reverse_cruise_increase)
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
self.update_button_timers(CS, enabled)
else:
@@ -68,7 +68,7 @@ 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, reverse_cruise_increase):
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_cruise_increase, set_speed_offset):
# 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:
@@ -110,6 +110,12 @@ class VCruiseHelper:
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# Apply offset
v_cruise_offset = (set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
if v_cruise_offset < 0:
v_cruise_offset = set_speed_offset - v_cruise_delta
self.v_cruise_kph += v_cruise_offset
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)