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

2
selfdrive/car/subaru/carcontroller.py
View File

@@ -100,7 +100,7 @@ class CarController:
can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))

6
selfdrive/car/subaru/subarucan.py
View File

@@ -66,7 +66,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
return packer.make_can_msg("ES_Distance", bus, values)
def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
values = {s: es_lkas_state_msg[s] for s in [
"CHECKSUM",
"LKAS_Alert_Msg",
@@ -118,9 +118,11 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
elif right_lane_depart:
values["LKAS_Alert"] = 11 # Right lane departure dash alert
if enabled:
if lat_active:
values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
values["LKAS_Dash_State"] = 2 # Green enabled indicator
values["LKAS_Left_Line_Enable"] = 1
values["LKAS_Right_Line_Enable"] = 1
else:
values["LKAS_Dash_State"] = 0 # LKAS Not enabled