Use turn desires when below the minimum lane change speed

Added toggle to use turn desires when below the minimum lane change speed for more precise turns.
2024-02-27 16:34:47 -07:00
parent 28a898f874
commit cfbb472acd
8 changed files with 63 additions and 1 deletions
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -1077,6 +1077,22 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.PERMANENT: torque_nn_load_alert,
  },

+  EventName.turningLeft: {
+    ET.WARNING: Alert(
+      "Turning Left",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+  },
+
+  EventName.turningRight: {
+    ET.WARNING: Alert(
+      "Turning Right",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+  },
+
  # Random Events
  EventName.accel30: {
    ET.WARNING: Alert(