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Always On Lateral

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Added toggle for Always On Lateral / No disengage lateral on gas and brake.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent a76689801d
commit a6aa132b3d
41 changed files with 170 additions and 51 deletions
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2
selfdrive/car/chrysler/carcontroller.py
View File

@@ -42,7 +42,7 @@ class CarController:
if self.frame % 25 == 0:
if CS.lkas_car_model != -1:
can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
self.hud_count, CS.lkas_car_model, CS.auto_high_beam, CC.latActive))
self.hud_count += 1
# steering

5
selfdrive/car/chrysler/chryslercan.py
View File

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import RAM_CARS
GearShifter = car.CarState.GearShifter
VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active):
# LKAS_HUD - Controls what lane-keeping icon is displayed
# == Color ==
@@ -27,7 +27,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
# 7 Normal
# 6 lane departure place hands on wheel
color = 2 if lkas_active else 1
color = 2 if lkas_active else 1 if lat_active else 0
lines = 3 if lkas_active else 0
alerts = 7 if lkas_active else 0
@@ -48,6 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
if CP.carFingerprint in RAM_CARS:
values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
values['LKAS_DISABLED'] = 0 if lat_active else 1
return packer.make_can_msg("DAS_6", 0, values)