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Conditional Experimental Mode

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Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.

Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-28 19:46:38 -07:00
parent 89e6ebdf12
commit 50cc95341d
18 changed files with 423 additions and 8 deletions
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5
selfdrive/controls/lib/drive_helpers.py
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@@ -133,7 +133,10 @@ class VCruiseHelper:
if self.CP.pcmCruise:
return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
if frogpilot_variables.conditional_experimental_mode:
initial = V_CRUISE_INITIAL
else:
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
# 250kph or above probably means we never had a set speed
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: