Rdm128 cruise delta to kegman.json (commaai#253)

* Update kegman_conf.py * Update drive_helpers.py
fraserxiong · Dec 24, 2019 · 02eb56b · 02eb56b
1 parent 1025166
commit 02eb56b
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Showing 2 changed files with 15 additions and 4 deletions.
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -1,13 +1,16 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.config import Conversions as CV
+from selfdrive.kegman_conf import kegman_conf
 
 # kph
+kegman = kegman_conf()
 V_CRUISE_MAX = 144
 V_CRUISE_MIN = 8
-V_CRUISE_DELTA = 8
-V_CRUISE_ENABLE_MIN = 40
-
+V_CRUISE_DELTA = int(kegman.conf['CruiseDelta'])
+V_CRUISE_ENABLE_MIN = int(kegman.conf['CruiseEnableMin'])
+clip(V_CRUISE_DELTA, 2, 16)
+clip(V_CRUISE_ENABLE_MIN, 1, 80)
 
 class MPC_COST_LAT:
   PATH = 1.0

diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
@@ -114,6 +114,14 @@ def read_config(self):
         self.config.update({"ALCminSpeed":"20.1168"})
         self.element_updated = True
 
+      if "CruiseDelta" not in self.config:
+        self.config.update({"CruiseDelta":"8"})
+        self.element_updated = True
+
+      if "CruiseEnableMin" not in self.config:
+        self.config.update({"CruiseEnableMin":"40"})
+        self.element_updated = True	
+
       if self.element_updated:
         print("updated")
         self.write_config(self.config)
@@ -128,7 +136,7 @@ def read_config(self):
 		     "1barHwy":"0.4", "2barHwy":"0.3", "3barHwy":"0.1", \
 		     "steerRatio":"-1", "steerRateCost":"-1", "slowOnCurves":"0", "Kf":"-1", \
 		     "sR_boost":"0", "sR_BP0":"0", "sR_BP1":"0", "sR_time":"1", \
-                     "ALCnudgeLess":"0", "ALCminSpeed":"20.1168"}
+                     "ALCnudgeLess":"0", "ALCminSpeed":"20.1168", "CrusieDelta":"8", "CruiseEnableMin":"40"}
 
 
       self.write_config(self.config)