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

21
selfdrive/controls/controlsd.py
View File

@@ -197,6 +197,15 @@ class Controls:
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# Set "Always On Lateral" conditions
self.always_on_lateral = self.params.get_bool("AlwaysOnLateral")
self.always_on_lateral_main = self.params.get_bool("AlwaysOnLateralMain")
if self.always_on_lateral:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
if self.disengage_on_accelerator:
self.disengage_on_accelerator = False
self.params.put_bool("DisengageOnAccelerator", False)
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
# read params
@@ -684,9 +693,19 @@ class Controls:
# Gear Check
self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
# Always on lateral
self.FPCC.alwaysOnLateral |= CS.cruiseState.enabled or self.always_on_lateral_main
self.FPCC.alwaysOnLateral &= self.always_on_lateral
self.FPCC.alwaysOnLateral &= CS.cruiseState.available
self.FPCC.alwaysOnLateral &= self.driving_gear
self.FPCC.alwaysOnLateral &= not self.openpilot_crashed
if self.FPCC.alwaysOnLateral:
self.current_alert_types.append(ET.WARNING)
# Check which actuators can be enabled
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl