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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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19
panda/board/safety.h
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@@ -556,7 +556,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
bool violation = false;
uint32_t ts = microsecond_timer_get();
bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
if (controls_allowed) {
// acc main must be on if controls are allowed
acc_main_on = controls_allowed;
}
if (controls_allowed || aol_allowed) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer);
@@ -583,7 +589,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
}
// no torque if controls is not allowed
if (!controls_allowed && (desired_torque != 0)) {
if (!(controls_allowed || aol_allowed) && (desired_torque != 0)) {
violation = true;
}
@@ -625,7 +631,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
}
// reset to 0 if either controls is not allowed or there's a violation
if (violation || !controls_allowed) {
if (violation || !(controls_allowed || aol_allowed)) {
valid_steer_req_count = 0;
invalid_steer_req_count = 0;
desired_torque_last = 0;
@@ -640,8 +646,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
// Safety checks for angle-based steering commands
bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) {
bool violation = false;
bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
if (controls_allowed) {
// acc main must be on if controls are allowed
acc_main_on = controls_allowed;
}
if (controls_allowed && steer_control_enabled) {
if ((controls_allowed || aol_allowed) && steer_control_enabled) {
// convert floating point angle rate limits to integers in the scale of the desired angle on CAN,
// add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are
// always slightly above openpilot's in case we read an updated speed in between angle commands
@@ -684,7 +695,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
}
// No angle control allowed when controls are not allowed
violation |= !controls_allowed && steer_control_enabled;
violation |= !(controls_allowed || aol_allowed) && steer_control_enabled;
return violation;
}