From 62c1cbc95729186eeac434e159a59696a99efda6 Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 18 May 2024 03:35:10 -0500 Subject: [PATCH] wip --- selfdrive/controls/controlsd.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 82797c9..634ab48 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1238,10 +1238,12 @@ class Controls: def clearpilot_state_control(self, CC, CS): if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): # self.params_memory.put_bool("CPTLkasButtonAction", True) - if self.params_memory.get_bool("CPTLkasButtonAction", False): - self.params_memory.put_bool("CPTLkasButtonAction", True) - else: + if self.params_memory.get_bool("CPTLkasButtonAction"): self.params_memory.put_bool("CPTLkasButtonAction", False) + else: + self.params_memory.put_bool("CPTLkasButtonAction", True) + CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction") + self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH ) # CC.actuators.speed # print ("Alive")