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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/toyota/carcontroller.py
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@@ -193,11 +193,11 @@ class CarController:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, accel_raw, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
frogpilot_variables))
CS.distance_button, frogpilot_variables))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False,
frogpilot_variables))
CS.distance_button, frogpilot_variables))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.