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2024-05-18 03:05:48 -05:00
parent 691036b9b9
commit 77b611546a
2 changed files with 9 additions and 6 deletions
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9
selfdrive/car/hyundai/carcontroller.py
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@@ -185,10 +185,6 @@ class CarController(CarControllerBase):
# hax # hax
params_memory = Params("/dev/shm/params") params_memory = Params("/dev/shm/params")
if params_memory.get_bool("CPTLkasButtonAction"):
params_memory.put_bool("CPTLkasButtonAction", False)
CC.cruiseControl.cancel = True
print("Debug cancel executed")
can_sends = [] can_sends = []
if use_clu11: if use_clu11:
@@ -205,11 +201,16 @@ class CarController(CarControllerBase):
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
if params_memory.get_bool("CPTLkasButtonAction"):
params_memory.put_bool("CPTLkasButtonAction", False)
CC.cruiseControl.cancel = True
print("Debug cancel executed")
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# pass # pass
can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
print("Yes2")
self.last_button_frame = self.frame self.last_button_frame = self.frame
CS.lkas_trigger_result = 1 CS.lkas_trigger_result = 1
else: else:

6
selfdrive/ui/ui.cc
View File

@@ -117,11 +117,13 @@ void update_model(UIState *s,
// update path // update path
float path; float path;
if (paramsMemory.getInt("no_lat_lane_change")) { if (paramsMemory.getInt("no_lat_lane_change")) {
path = LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users
} else { } else {
path = CENTER_LANE_WIDTH / 20; // Release: better calc for EU users path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
} }
path = scene.path_width;
auto lead_count = model.getLeadsV3().size(); auto lead_count = model.getLeadsV3().size();
if (lead_count > 0) { if (lead_count > 0) {
auto lead_one = model.getLeadsV3()[0]; auto lead_one = model.getLeadsV3()[0];