brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Use turn desires when below the minimum lane change speed

Browse Source 
Added toggle to use turn desires when below the minimum lane change speed for more precise turns.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 28a898f874
commit cfbb472acd
8 changed files with 63 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/controls/controlsd.py
View File

@@ -455,6 +455,13 @@ class Controls:
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
# Handle turning
if not CS.standstill:
if self.sm['modelV2'].meta.turnDirection == Desire.turnLeft:
self.events.add(EventName.turningLeft)
elif self.sm['modelV2'].meta.turnDirection == Desire.turnRight:
self.events.add(EventName.turningRight)
for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
if i < len(self.CP.safetyConfigs):