brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Always on Lateral

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
panda/board/safety_declarations.h
View File

@@ -227,6 +227,7 @@ struct sample_t vehicle_speed;
bool vehicle_moving = false;
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
int cruise_button_prev = 0;
int cruise_main_prev = 0;
bool safety_rx_checks_invalid = false;
// for safety modes with torque steering control
@@ -269,3 +270,6 @@ int alternative_experience = 0;
uint32_t safety_mode_cnt = 0U;
// allow 1s of transition timeout after relay changes state before assessing malfunctioning
const uint32_t RELAY_TRNS_TIMEOUT = 1U;
// Always on Lateral
#define ALT_EXP_ALWAYS_ON_LATERAL 16