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FrogPilot features - Disable below steer speed event after it's been shown

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This commit is contained in:
FrogAi 2024-04-08 15:21:18 -07:00
parent 0bd8bf7e43
commit 3cfe243970
2 changed files with 9 additions and 1 deletions
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7
selfdrive/car/gm/interface.py
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@ -322,8 +322,13 @@ class CarInterface(CarInterfaceBase):
events.add(EventName.belowEngageSpeed) events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill and not self.CP.autoResumeSng: if ret.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired) events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed: if ret.vEgo < self.CP.minSteerSpeed and not self.disable_belowSteerSpeed:
events.add(EventName.belowSteerSpeed) events.add(EventName.belowSteerSpeed)
self.belowSteerSpeed_shown = True
# Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed:
self.disable_belowSteerSpeed = True
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled: if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
events.add(EventName.speedTooLow) events.add(EventName.speedTooLow)

3
selfdrive/car/interfaces.py
View File

@ -102,6 +102,9 @@ class CarInterfaceBase(ABC):
self.params = Params() self.params = Params()
self.params_memory = Params("/dev/shm/params") self.params_memory = Params("/dev/shm/params")
self.belowSteerSpeed_shown = False
self.disable_belowSteerSpeed = False
@staticmethod @staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed): def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX return ACCEL_MIN, ACCEL_MAX