brianhansonxyz/clearpilot
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2024-05-11 23:00:32 -05:00
parent bef1770b58
commit 65bcdde866
9 changed files with 159 additions and 134 deletions
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10
selfdrive/frogpilot/controls/frogpilot_planner.py
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@@ -126,7 +126,8 @@ class FrogPilotPlanner:
self.v_cruise = self.update_v_cruise(carState, controlsState, controlsState.enabled, liveLocationKalman, modelData, road_curvature, v_cruise, v_ego)
if self.conditional_experimental_mode and self.CP.openpilotLongitudinalControl or self.green_light_alert:
# clearpilot allow experimental on stock long
if self.conditional_experimental_mode or self.green_light_alert:
self.cem.update(carState, controlsState.enabled, frogpilotNavigation, self.lead_one, modelData, road_curvature, self.t_follow, v_ego)
if self.radarless_model:
@@ -277,7 +278,8 @@ class FrogPilotPlanner:
def update_frogpilot_params(self):
self.is_metric = self.params.get_bool("IsMetric")
self.conditional_experimental_mode = self.CP.openpilotLongitudinalControl and self.params.get_bool("ConditionalExperimental")
# clearpilot allow experimental in stock long
self.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental")
if self.conditional_experimental_mode:
self.cem.update_frogpilot_params()
@@ -312,7 +314,7 @@ class FrogPilotPlanner:
self.smoother_braking_far_lead = self.smoother_braking and self.params.get_bool("SmoothBrakingFarLead") and not self.release
self.smoother_braking_jerk = self.smoother_braking and self.params.get_bool("SmoothBrakingJerk") and not self.release
self.map_turn_speed_controller = self.CP.openpilotLongitudinalControl and self.params.get_bool("MTSCEnabled")
self.map_turn_speed_controller = self.params.get_bool("MTSCEnabled")
self.mtsc_curvature_check = self.map_turn_speed_controller and self.params.get_bool("MTSCCurvatureCheck")
self.params_memory.put_float("MapTargetLatA", 2 * (self.params.get_int("MTSCAggressiveness") / 100))
@@ -320,6 +322,6 @@ class FrogPilotPlanner:
self.speed_limit_confirmation = self.speed_limit_controller and self.params.get_bool("SLCConfirmation")
self.speed_limit_controller_override = self.speed_limit_controller and self.params.get_int("SLCOverride")
self.vision_turn_controller = self.CP.openpilotLongitudinalControl and self.params.get_bool("VisionTurnControl")
self.vision_turn_controller = self.params.get_bool("VisionTurnControl")
self.curve_sensitivity = self.params.get_int("CurveSensitivity") / 100 if self.vision_turn_controller else 1
self.turn_aggressiveness = self.params.get_int("TurnAggressiveness") / 100 if self.vision_turn_controller else 1