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fix.. decelCruise button at cruise activated.

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This commit is contained in:
ajouatom 2025-02-19 15:33:29 +09:00
parent 9a1692569e
commit cda0faa3d6
1 changed files with 6 additions and 0 deletions
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6
selfdrive/car/cruise.py
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@ -442,6 +442,8 @@ class VCruiseCarrot:
v_cruise_kph, button_type, long_pressed = self._carrot_command(v_cruise_kph, button_type, long_pressed) v_cruise_kph, button_type, long_pressed = self._carrot_command(v_cruise_kph, button_type, long_pressed)
cruise_activated = not self.enabled_last and CC.enabled
if button_type in [ButtonType.accelCruise, ButtonType.decelCruise]: if button_type in [ButtonType.accelCruise, ButtonType.decelCruise]:
if self.autoCruiseControl_cancel_timer > 0: if self.autoCruiseControl_cancel_timer > 0:
self._add_log(f"AutoCruiseControl cancel timer RESET {button_type}") self._add_log(f"AutoCruiseControl cancel timer RESET {button_type}")
@ -469,6 +471,8 @@ class VCruiseCarrot:
self._pause_auto_speed_up = True self._pause_auto_speed_up = True
if self._soft_hold_active > 0: if self._soft_hold_active > 0:
self._cruise_control(-1, -1, "Cruise off,softhold mode (decelCruise)") self._cruise_control(-1, -1, "Cruise off,softhold mode (decelCruise)")
elif cruise_activated:
v_cruise_kph = self.v_ego_kph_set
elif self._cruise_button_mode in [0, 1]: elif self._cruise_button_mode in [0, 1]:
v_cruise_kph = button_kph v_cruise_kph = button_kph
elif self.v_ego_kph_set > self._cruise_speed_min and v_cruise_kph > self.v_ego_kph_set: elif self.v_ego_kph_set > self._cruise_speed_min and v_cruise_kph > self.v_ego_kph_set:
@ -501,6 +505,8 @@ 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.decelCruise: elif button_type == ButtonType.decelCruise:
if cruise_activated:
v_cruise_kph = self.v_ego_kph_set
self._pause_auto_speed_up = True self._pause_auto_speed_up = True
v_cruise_kph = button_kph v_cruise_kph = button_kph
self._v_cruise_kph_at_brake = 0 self._v_cruise_kph_at_brake = 0