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IQ.Pilot Release Commit @ bec7652

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IQ.Lvbs CI [bot]
2026-08-22 21:28:16 -05:00
parent 9e52535231
commit e0fd0efe96
4825 changed files with 177522 additions and 75780 deletions
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23
iqpilot/selfdrive/controls/lib/speed_limit_controller.py
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@@ -11,13 +11,13 @@ from concurrent.futures import ThreadPoolExecutor
import numpy as np
from cereal import car, custom
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.common.k3_slc_log import k3_slc_log
from openpilot.iqpilot.common.slc_utilities import calculate_bearing_offset, is_url_pingable
from openpilot.iqpilot.common.slc_variables import FREE_MAPBOX_REQUESTS, OFFSET_MAP_IMPERIAL, OFFSET_MAP_METRIC, OFFSET_PERCENT_MAX
from iqpilot.cereal import car, custom
from iqpilot.common.constants import CV
from iqpilot.common.realtime import DT_MDL
from iqpilot.common.swaglog import cloudlog
from iqpilot.common.k3_slc_log import k3_slc_log
from iqpilot.common.slc_utilities import calculate_bearing_offset, is_url_pingable
from iqpilot.common.slc_variables import FREE_MAPBOX_REQUESTS, OFFSET_MAP_IMPERIAL, OFFSET_MAP_METRIC, OFFSET_PERCENT_MAX
try:
import requests
@@ -375,8 +375,9 @@ class SpeedLimitController:
def _resolve_tomtom_token(self) -> str:
try:
from openpilot.iqpilot.navd.runtime_common import resolve_tomtom_token
return resolve_tomtom_token(self.params) or ""
from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
runtime_common = import_verified_module("iqpilot_navd_private", "iqpilot_private.navd.runtime_common")
return runtime_common.resolve_tomtom_token(self.params) or ""
except Exception:
tok = self.params.get("TomTomToken")
return (tok.decode("utf-8") if isinstance(tok, bytes) else (tok or "")).strip()
@@ -505,7 +506,7 @@ class SpeedLimitController:
self.segment_distance = 0.0
return
steer_angle = sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg
steer_angle = sm["carState"].steeringAngleDeg - sm["vehicleParameters"].angleOffsetDeg
if not self.gps_valid or not self.mapbox_token or steer_angle >= 45:
self._log_mapbox_diag(f"SLC Mapbox skipped: gps_valid={self.gps_valid} token={bool(self.mapbox_token)} steer_angle={round(float(steer_angle), 2)}")
self.mapbox_limit = 0.0
@@ -642,7 +643,7 @@ class SpeedLimitController:
self.tomtom_limit = 0.0
return
steer_angle = sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg
steer_angle = sm["carState"].steeringAngleDeg - sm["vehicleParameters"].angleOffsetDeg
if not self.gps_valid or steer_angle >= 45 or v_ego < 1:
self.tomtom_limit = 0.0
return