accel/decel button metric increments (#22399)

* add metric values

Freedom units have weird multiples compared to metric. Modified so that it increments by 10 km/h on long press and 1 km/h on short press, rather than 8 and 1.6 km/h. This mimics stock hyundai behaviour on metric vehicles.

* use is_metric from controlsd

* use actual mph value instead of rounded

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 23b9316603

selfdrive/controls/controlsd.py

@@ -369,7 +369,7 @@ class Controls:
 
     # if stock cruise is completely disabled, then we can use our own set speed logic
     if not self.CP.pcmCruise:
-      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled)
+      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric)
     elif self.CP.pcmCruise and CS.cruiseState.enabled:
       self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 

selfdrive/controls/lib/drive_helpers.py

@@ -5,12 +5,11 @@ from common.realtime import DT_MDL
 from selfdrive.config import Conversions as CV
 from selfdrive.modeld.constants import T_IDXS
 
-
 # kph
 V_CRUISE_MAX = 135
 V_CRUISE_MIN = 8
-V_CRUISE_DELTA = 1.6
 V_CRUISE_ENABLE_MIN = 40
+
 LAT_MPC_N = 16
 LON_MPC_N = 32
 CONTROL_N = 17
@@ -52,7 +51,7 @@ def get_steer_max(CP, v_ego):
   return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
 
 
-def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled):
+def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
   # handle button presses. TODO: this should be in state_control, but a decelCruise press
   # would have the effect of both enabling and changing speed is checked after the state transition
   if not enabled:
@@ -61,6 +60,9 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled):
   long_press = False
   button_type = None
 
+  v_cruise_delta = 1 if metric else CV.MPH_TO_KPH
+  fast_cruise_multiplier = 10 if metric else 5
+
   for b in buttonEvents:
     if b.type.raw in button_timers and not b.pressed:
       if button_timers[b.type.raw] > CRUISE_LONG_PRESS:
@@ -75,7 +77,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled):
         break
 
   if button_type:
-    v_cruise_delta = V_CRUISE_DELTA * (5 if long_press else 1)
+    v_cruise_delta = v_cruise_delta * (fast_cruise_multiplier if long_press else 1)
     if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval
       v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else: