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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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7
selfdrive/ui/ui.cc
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@@ -210,6 +210,9 @@ static void update_state(UIState *s) {
}
if (sm.updated("frogpilotCarControl")) {
auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
if (scene.always_on_lateral) {
scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateral();
}
}
if (sm.updated("frogpilotPlan")) {
auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
@@ -243,6 +246,8 @@ void ui_update_frogpilot_params(UIState *s) {
Params params = Params();
UIScene &scene = s->scene;
scene.always_on_lateral = params.getBool("AlwaysOnLateral");
bool custom_onroad_ui = params.getBool("CustomUI");
scene.acceleration_path = custom_onroad_ui && params.getBool("AccelerationPath");
@@ -257,6 +262,8 @@ void UIState::updateStatus() {
auto state = controls_state.getState();
if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
status = STATUS_OVERRIDE;
} else if (scene.always_on_lateral_active) {
status = STATUS_LATERAL_ACTIVE;
} else {
status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}