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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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1
panda/board/safety/safety_subaru.h
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@@ -152,6 +152,7 @@ static void subaru_rx_hook(CANPacket_t *to_push) {
// enter controls on rising edge of ACC, exit controls on ACC off
if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
acc_main_on = GET_BIT(to_push, 40U) != 0U;
bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
pcm_cruise_check(cruise_engaged);
}