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Always on Lateral

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Added toggle for Always On Lateral / No disengage lateral on gas and brake.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent c33e3e45db
commit 42b3636995
28 changed files with 132 additions and 18 deletions
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3
panda/board/safety/safety_honda.h
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@@ -331,7 +331,8 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
// STEER: safety check
if ((addr == 0xE4) || (addr == 0x194)) {
if (!controls_allowed) {
bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS);
if (!(controls_allowed || aol_allowed)) {
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
if (steer_applied) {
tx = false;