From 00199defe8b132d1ea44d55e445b4bee402d7afd Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Fri, 10 May 2024 17:44:04 -0700 Subject: [PATCH] Controls - Quality of Life - Set Speed Offset Set an offset for your desired set speed. Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com> --- selfdrive/controls/lib/drive_helpers.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 770ba32..da7f0d2 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -112,6 +112,11 @@ class VCruiseHelper: else: self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0 + if v_cruise_offset < 0: + v_cruise_offset = frogpilot_variables.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)