fix speed too low (#1628)
parent
682dc5ddad
commit
db7ea2a599
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@ -106,6 +106,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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whitePandaUnsupported @81;
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startupWhitePanda @82;
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canErrorPersistent @83;
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belowEngageSpeed @84;
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}
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}
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@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
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events = self.create_common_events(ret, pcm_enable=False)
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if ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.speedTooLow)
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events.add(EventName.belowEngageSpeed)
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if self.CS.park_brake:
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events.add(EventName.parkBrake)
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if ret.cruiseState.standstill:
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@ -476,12 +476,12 @@ class CarInterface(CarInterfaceBase):
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events.add(EventName.parkBrake)
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if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.speedTooLow)
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events.add(EventName.belowEngageSpeed)
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# it can happen that car cruise disables while comma system is enabled: need to
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# keep braking if needed or if the speed is very low
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if self.CP.enableCruise and not ret.cruiseState.enabled \
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and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0):
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and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
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# non loud alert if cruise disables below 25mph as expected (+ a little margin)
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if ret.vEgo < self.CP.minEnableSpeed + 2.:
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events.add(EventName.speedTooLow)
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@ -78,7 +78,7 @@ class CarInterface(CarInterfaceBase):
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events = self.create_common_events(ret)
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if self.CS.low_speed_lockout:
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events.add(EventName.speedTooLow)
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events.add(EventName.belowEngageSpeed)
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if self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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@ -323,7 +323,7 @@ class CarInterface(CarInterfaceBase):
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if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
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events.add(EventName.lowSpeedLockout)
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if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
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events.add(EventName.speedTooLow)
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events.add(EventName.belowEngageSpeed)
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if c.actuators.gas > 0.1:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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@ -503,6 +503,10 @@ EVENTS = {
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duration_hud_alert=0.),
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},
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EventName.belowEngageSpeed: {
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ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
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},
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EventName.sensorDataInvalid: {
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ET.PERMANENT: Alert(
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"No Data from Device Sensors",
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@ -677,7 +681,6 @@ EVENTS = {
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"Speed too low",
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AlertStatus.normal, AlertSize.mid,
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Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
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ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
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},
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EventName.speedTooHigh: {
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