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2024-05-18 03:35:10 -05:00
parent 2de40cc2f3
commit 62c1cbc957
1 changed files with 5 additions and 3 deletions
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8
selfdrive/controls/controlsd.py
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@@ -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")