brianhansonxyz/clearpilot
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2024-05-04 01:41:26 -05:00
parent 2507b6fbf4
commit d79b78041d
2 changed files with 4 additions and 3 deletions
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1
pull_and_launch.sh Normal file
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@@ -0,0 +1 @@
git pull origin clearpilot; bash launch_chffrplus.sh

6
selfdrive/car/hyundai/carstate.py
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@@ -302,6 +302,8 @@ class CarState(CarStateBase):
except:
nothing = 0
self.lkas_enabled = lkas_enabled
if self.lkas_enabled and not self.lkas_previously_enabled:
self.fix_main_enabled_cancel_main = True
self.lkas_was_pressed = True
@@ -315,7 +317,7 @@ class CarState(CarStateBase):
print({"fix_main_enabled_executed": self.fix_main_enabled_executed}, sys.stderr)
print({"self.lkas_enabled": self.lkas_enabled}, sys.stderr)
print({"lkas_enabled": lkas_enabled}, sys.stderr)
print({"lkas_enabled": self.lkas_was_pressed}, sys.stderr)
print({"lkas_was_pressed": self.lkas_was_pressed}, sys.stderr)
# notes on self:
# lkas_enabled = 1 = lkas button has been pressed
# prev_cruise_buttons = 0 (none), 1, 2 - up down
@@ -324,8 +326,6 @@ class CarState(CarStateBase):
# ret: cruiseState.speed > 0 = and cruiseState.enabled = false = idle cruise.
# press cruise to cancel it if not op engaged
self.lkas_enabled = lkas_enabled
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
return ret