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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/nissan/carcontroller.py
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@@ -67,7 +67,7 @@ class CarController:
if self.CP.carFingerprint != CAR.ALTIMA:
if self.frame % 2 == 0:
can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
if self.frame % 50 == 0:
can_sends.append(nissancan.create_lkas_hud_info_msg(