Fix speed too low (#1627)
* fix speed too low * bump ref Co-authored-by: Willem Melching <willem.melching@gmail.com>pull/1629/head
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60620fe773
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165bcf1f31
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@ -1 +1 @@
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Subproject commit 978ffda4057542514b233a4b540690a964651dca
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Subproject commit cc14179697fac4757daeaa7968ac29d490204693
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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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@ -482,12 +482,12 @@ 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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@ -77,7 +77,7 @@ 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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@ -506,6 +506,10 @@ 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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@ -680,7 +684,6 @@ 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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@ -1 +1 @@
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5bad0192bf35d8f08f26dd5ac72b3c1d62a57569
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5abe4f99eec3633bc30fda47c272e0f19a840a29
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