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fix

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机械小鸽 2025-03-01 22:22:11 +08:00 committed by GitHub
parent c981eb3057
commit a1f6f78ccd
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2 changed files with 13 additions and 9 deletions
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2
opendbc_repo/opendbc/car/interfaces.py
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@ -213,7 +213,7 @@ class CarInterfaceBase(ABC):
dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()} dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
self.CC: CarControllerBase = CarController(dbc_names, CP) self.CC: CarControllerBase = CarController(dbc_names, CP)
Params().put('LongitudinalPersonalityMax', "3") Params().put('LongitudinalPersonalityMax', "4") # 强制调整4
eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")) eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint) comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint)

6
selfdrive/car/cruise.py
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@ -512,7 +512,11 @@ class VCruiseCarrot:
v_cruise_kph = button_kph v_cruise_kph = button_kph
self._v_cruise_kph_at_brake = 0 self._v_cruise_kph_at_brake = 0
elif button_type == ButtonType.gapAdjustCruise: elif button_type == ButtonType.gapAdjustCruise:
self.params.put_int_nonblocking("MyDrivingMode", self.params.get_int("MyDrivingMode") % 4 + 1) # 1,2,3,4 (1:eco, 2:safe, 3:normal, 4:high speed) current_speed_mode = self.params.get_int("SpeedFromPCM")
new_speed_mode = (current_speed_mode + 1) % 3
self.params.put_int_nonblocking("SpeedFromPCM", new_speed_mode)
self._add_log(f"SpeedFromPCM changed to {new_speed_mode}")
#self.params.put_int_nonblocking("MyDrivingMode", self.params.get_int("MyDrivingMode") % 4 + 1) # 1,2,3,4 (1:eco, 2:safe, 3:normal, 4:high speed)
elif button_type == ButtonType.lfaButton: elif button_type == ButtonType.lfaButton:
useLaneLineSpeed = max(1, self.useLaneLineSpeed) useLaneLineSpeed = max(1, self.useLaneLineSpeed)
self.params.put_int_nonblocking("UseLaneLineSpeedApply", useLaneLineSpeed if self.params.get_int("UseLaneLineSpeedApply") == 0 else 0) self.params.put_int_nonblocking("UseLaneLineSpeedApply", useLaneLineSpeed if self.params.get_int("UseLaneLineSpeedApply") == 0 else 0)