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

Always On Lateral

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

6
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
"LKA_ICON": 2 if lat_active else 1,
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
@@ -113,10 +113,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CAN, enabled):
def create_lfahda_cluster(packer, CAN, enabled, lat_active):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0,
"LFA_ICON": 2 if lat_active else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)