From 73db0791997efa270f6793b7acb422aedc22d21f Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Wed, 3 Jun 2020 16:01:32 -0500 Subject: [PATCH] Fix rounding of minSteerSpeed in events (#1620) I thought I was missing a rounding in Mazda code, but it turned out to be a missing rounding after the recent event refactoring Python3 interpreter: >>> print(" %d %d" % (1.6,1.4)) 1 1 >>> print(" %d %d" % (round(1.6),round(1.4))) 2 1 >>> print(" %d %d" % (int(round(1.6)),round(1.4))) 2 1 >>> print(" %d %d" % (int(round(1.6)),int(round(1.4)))) 2 1 Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/interface.py | 2 +- selfdrive/controls/lib/events.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 20ddf5ae94..059d734153 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -44,7 +44,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00006 # No steer below disable speed - ret.minSteerSpeed = round(LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS) + ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS ret.centerToFront = ret.wheelbase * 0.41 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index ff97a6bbd5..3e8f985fe7 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -161,7 +161,7 @@ class EngagementAlert(Alert): audible_alert, .2, 0., 0.), def below_steer_speed_alert(CP, sm, metric): - speed = CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH) + speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) unit = "kph" if metric else "mph" return Alert( "TAKE CONTROL",