brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-05-18 00:32:24 -05:00
parent 52b6f7abea
commit 41b4f73622
8 changed files with 194 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
selfdrive/controls/lib/desire_helper.py
View File

@@ -156,12 +156,13 @@ class DesireHelper:
self.prev_one_blinker = one_blinker
self.turn_completed &= one_blinker
if self.turn_direction != TurnDirection.none:
self.desire = TURN_DESIRES[self.turn_direction]
elif not self.turn_completed:
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
else:
self.desire = log.Desire.none
# Clearpilot test: disabling turn desires
# if self.turn_direction != TurnDirection.none:
# self.desire = TURN_DESIRES[self.turn_direction]
# elif not self.turn_completed:
# self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# else:
# self.desire = log.Desire.none
# Send keep pulse once per second during LaneChangeStart.preLaneChange
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):