v_cruise_cluster_kph with an offset

dzid26 · Sep 21, 2024 · ffa16e5 · ffa16e5
1 parent e573387
commit ffa16e5
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/selfdrive/car/bmw/carstate.py b/selfdrive/car/bmw/carstate.py
@@ -112,7 +112,7 @@ def update(self, cp_PT, cp_F, cp_aux):
       ret.steeringAngleDeg = cp_PT.vl['SteeringWheelAngle']['SteeringPosition']
       ret.cruiseState.speed = cp_PT.vl["CruiseControlStatus"]['CruiseControlSetpointSpeed'] * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS)
       ret.cruiseState.enabled = cp_PT.vl["CruiseControlStatus"]['CruiseCoontrolActiveFlag'] != 0
-    ret.cruiseState.speedCluster = ret.cruiseState.speed + CruiseSettings.CLUSTER_OFFSET * CV.KPH_TO_MS #For logging. Doesn't do anything with pcmCruise = False
+    ret.cruiseState.speedCluster = ret.cruiseState.speed + CruiseSettings.CLUSTER_OFFSET * CV.KPH_TO_MS
     if cruise_control_stal_msg['plus1'] != 0:
       self.cruise_stalk_speed = 1
     elif cruise_control_stal_msg['minus1'] != 0:

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -59,11 +59,10 @@ def update_v_cruise(self, CS, enabled, is_metric):
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric)
-        self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+      self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET