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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/nissan/nissancan.py
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@@ -65,7 +65,7 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
return packer.make_can_msg("CANCEL_MSG", 2, values)
def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
values = {s: lkas_hud_msg[s] for s in [
"LARGE_WARNING_FLASHING",
"SIDE_RADAR_ERROR_FLASHING1",
@@ -98,9 +98,9 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 0
values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0
values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0
return packer.make_can_msg("PROPILOT_HUD", 0, values)