brianhansonxyz/clearpilot
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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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2
selfdrive/controls/controlsd.py
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@@ -1149,6 +1149,8 @@ class Controls:
self.lane_detection = self.params.get_bool("LaneDetection") and self.params.get_bool("NudgelessLaneChange")
self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if self.is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
self.frogpilot_variables.personalities_via_wheel = self.params.get_bool("PersonalitiesViaWheel") and self.params.get_bool("AdjustablePersonalities")
quality_of_life = self.params.get_bool("QOLControls")
self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")

2
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -94,7 +94,7 @@ class LongitudinalPlanner:
return x, v, a, j
def update(self, sm, frogpilot_planner, params_memory):
if self.param_read_counter % 50 == 0:
if self.param_read_counter % 50 == 0 or params_memory.get_bool("PersonalityChangedViaUI") or params_memory.get_bool("PersonalityChangedViaWheel"):
self.read_param()
self.param_read_counter += 1
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'