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pull/25364/head
royjr 3 years ago
parent 752241f060
commit 2e432dde1b
1 changed files with 3 additions and 10 deletions
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  1. 13
      selfdrive/car/honda/carcontroller.py

13
selfdrive/car/honda/carcontroller.py
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@ -130,23 +130,16 @@ class CarController:
hud_control = CC.hudControl hud_control = CC.hudControl
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
stopping = actuators.longControlState == LongCtrlState.stopping if CC.longActive and (actuators.longControlState == LongCtrlState.stopping):
if CC.longActive and stopping:
if self.last_stopping_frame == 0: if self.last_stopping_frame == 0:
self.last_stopping_frame = self.frame self.last_stopping_frame = self.frame
if self.frame - self.last_stopping_frame > 400: if self.frame - self.last_stopping_frame > 400:
hud_v_cruise = 252 hud_v_cruise = 252
else: else:
if CS.is_metric: hud_v_cruise = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) if hud_control.speedVisible else 255
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
else:
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
else: else:
self.last_stopping_frame = 0 self.last_stopping_frame = 0
if CS.is_metric: hud_v_cruise = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) if hud_control.speedVisible else 255
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
else:
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
else: else:
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255 hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
pcm_cancel_cmd = CC.cruiseControl.cancel pcm_cancel_cmd = CC.cruiseControl.cancel

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