fix speed too low (#1628)

commaai · Jun 3, 2020 · db7ea2a · db7ea2a
1 parent 682dc5d
commit db7ea2a
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Showing 6 changed files with 10 additions and 6 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -106,6 +106,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     whitePandaUnsupported @81;
     startupWhitePanda @82;
     canErrorPersistent @83;
+    belowEngageSpeed @84;
   }
 }
 

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -149,7 +149,7 @@ def update(self, c, can_strings):
     events = self.create_common_events(ret, pcm_enable=False)
 
     if ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
     if self.CS.park_brake:
       events.add(EventName.parkBrake)
     if ret.cruiseState.standstill:

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -476,12 +476,12 @@ def update(self, c, can_strings):
       events.add(EventName.parkBrake)
 
     if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
 
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low
     if self.CP.enableCruise and not ret.cruiseState.enabled \
-       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0):
+       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
       # non loud alert if cruise disables below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
         events.add(EventName.speedTooLow)

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
@@ -78,7 +78,7 @@ def update(self, c, can_strings):
     events = self.create_common_events(ret)
 
     if self.CS.low_speed_lockout:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
 
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -323,7 +323,7 @@ def update(self, c, can_strings):
     if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
       events.add(EventName.lowSpeedLockout)
     if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
       if c.actuators.gas > 0.1:
         # some margin on the actuator to not false trigger cancellation while stopping
         events.add(EventName.speedTooLow)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -503,6 +503,10 @@ def calibration_incomplete_alert(CP, sm, metric):
                               duration_hud_alert=0.),
   },
 
+  EventName.belowEngageSpeed: {
+    ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
+  },
+
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "No Data from Device Sensors",
@@ -677,7 +681,6 @@ def calibration_incomplete_alert(CP, sm, metric):
       "Speed too low",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-    ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
   },
 
   EventName.speedTooHigh: {