brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

FrogPilot Setup

Browse Source
This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/car/volkswagen/carcontroller.py
View File

@@ -25,7 +25,7 @@ class CarController:
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
def update(self, CC, CS, ext_bus, now_nanos):
def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []

6
selfdrive/car/volkswagen/carstate.py
View File

@@ -30,9 +30,9 @@ class CarState(CarStateBase):
return button_events
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
def update(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
if self.CP.carFingerprint in PQ_CARS:
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables)
ret = car.CarState.new_message()
# Update vehicle speed and acceleration from ABS wheel speeds.
@@ -153,7 +153,7 @@ class CarState(CarStateBase):
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
ret = car.CarState.new_message()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(

12
selfdrive/car/volkswagen/interface.py
View File

@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True
@@ -225,10 +225,10 @@ class CarInterface(CarInterfaceBase):
return ret
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType, frogpilot_variables)
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -253,6 +253,6 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c, now_nanos):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
def apply(self, c, now_nanos, frogpilot_variables):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos, frogpilot_variables)
return new_actuators, can_sends