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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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4
panda/board/safety/safety_hyundai_common.h
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@@ -63,6 +63,10 @@ void hyundai_common_cruise_state_check(const int cruise_engaged) {
}
void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
if (main_button != 0 && main_button != cruise_main_prev) {
acc_main_on = !acc_main_on;
}
cruise_main_prev = main_button;
if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
(main_button != 0)) {
hyundai_last_button_interaction = 0U;