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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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6
selfdrive/car/toyota/toyotacan.py
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@@ -73,12 +73,12 @@ def create_fcw_command(packer, fcw):
return packer.make_can_msg("PCS_HUD", 0, values)
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud, lat_active):
values = {
"TWO_BEEPS": chime,
"LDA_ALERT": steer,
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
"RIGHT_LINE": 0 if not lat_active else 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 0 if not lat_active else 3 if left_lane_depart else 1 if left_line else 2,
"BARRIERS": 1 if enabled else 0,
# static signals