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Experimental Mode activation via steering wheel / onroad UI

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Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.
This commit is contained in:
FrogAi
2024-03-06 18:30:45 -07:00
parent b1e7bb101e
commit af04cd6c65
18 changed files with 207 additions and 14 deletions
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10
selfdrive/car/honda/carstate.py
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@@ -263,6 +263,16 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
return ret
def get_can_parser(self, CP):