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Switch personalities via steering wheel / onroad UI

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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
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4
selfdrive/car/hyundai/hyundaican.py
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@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available, personality_profile):
commands = []
scc11_values = {
"MainMode_ACC": 1 if cruise_available else 0,
"TauGapSet": 4,
"TauGapSet": personality_profile + 1,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": 1, # close lead makes controls tighter