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

Switch personalities via steering wheel / onroad UI

Browse Source 
Added toggle to switch between the personalities via the steering wheel or an onroad UI button.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 71eecd224c
commit 437ecc73ca
38 changed files with 406 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
selfdrive/car/gm/gmcan.py
View File

@@ -105,14 +105,15 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw, display, personality_profile):
target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne": 1,
"ACCResumeButton": 0,
"DisplayDistance": display,
"ACCSpeedSetpoint": target_speed,
"ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive"
"ACCGapLevel": min(personality_profile + 1, 3), # 3 "far", 0 "inactive"
"ACCCmdActive": enabled,
"ACCAlwaysOne2": 1,
"ACCLeadCar": lead_car_in_sight,