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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/volkswagen/carcontroller.py
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@@ -94,7 +94,7 @@ class CarController:
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
CS.out.steeringPressed, hud_alert, hud_control))
CS.out.steeringPressed, hud_alert, hud_control, CC.latActive))
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
lead_distance = 0