From 1cafc776102423a0744e54feb829663e19049cc5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Sep 2024 14:05:41 -0700 Subject: [PATCH] =?UTF-8?q?this=20is=20fine=20=F0=9F=94=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/cruise.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py index 3750c34f2b..b92d0c7465 100644 --- a/selfdrive/car/cruise.py +++ b/selfdrive/car/cruise.py @@ -53,7 +53,7 @@ class VCruiseHelper: else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH - if CS.cruiseState.speed < 1e-3: + if CS.cruiseState.speed == 0: self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET else: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c0827f4d48..1b260408f5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -101,7 +101,7 @@ class LongitudinalPlanner: v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS - v_cruise_initialized = abs(sm['carState'].vCruise - V_CRUISE_UNSET) < 1e-3 + v_cruise_initialized = sm['carState'].vCruise == V_CRUISE_UNSET long_control_off = sm['controlsState'].longControlState == LongCtrlState.off force_slow_decel = sm['controlsState'].forceDecel