brianhansonxyz/clearpilot
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2024-05-04 00:12:12 -05:00
parent 69c279e704
commit dbd12417cc
3 changed files with 15 additions and 2 deletions
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9
selfdrive/controls/controlsd.py
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@@ -637,8 +637,13 @@ class Controls:
if model_v2.meta.laneChangeState != LaneChangeState.off:
CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
if clearpilot_disable_lat_on_lane_change:
CC.latActive = False
if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
CC.latActive = False
self.params_memory.put_int("no_lat_lane_change", 1)
# self.params_memory.put_int("CurrentRandomEvent", 1)
else:
self.params_memory.put_int("no_lat_lane_change", 0)
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame