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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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8
selfdrive/car/hyundai/hyundaican.py
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@@ -117,20 +117,20 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint):
return packer.make_can_msg("CLU11", bus, values)
def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0):
values = {
"LFA_Icon_State": 2 if enabled else 0,
"LFA_Icon_State": 2 if lat_active else 0,
"HDA_Active": 1 if hda_set_speed else 0,
"HDA_Icon_State": 2 if hda_set_speed else 0,
"HDA_VSetReq": hda_set_speed,
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available):
commands = []
scc11_values = {
"MainMode_ACC": 1,
"MainMode_ACC": 1 if cruise_available else 0,
"TauGapSet": 4,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,