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Torque lateral jerk with stock torque controller

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Add toggle to use Twilsonco's  lateral jerk with stock torque controller.

Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 437ecc73ca
commit a0209cf918
5 changed files with 64 additions and 54 deletions
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selfdrive/car/interfaces.py
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@@ -212,6 +212,7 @@ class CarInterfaceBase(ABC):
params = Params()
self.has_lateral_torque_nn = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware) and params.get_bool("NNFF") and params.get_bool("LateralTune")
self.use_lateral_jerk = params.get_bool("UseLateralJerk") and params.get_bool("LateralTune")
self.belowSteerSpeed_shown = False
self.disable_belowSteerSpeed = False