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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
selfdrive/car/hyundai/hyundaican.py
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@@ -126,11 +126,11 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available):
commands = []
scc11_values = {
"MainMode_ACC": 1,
"MainMode_ACC": 1 if cruise_available else 0,
"TauGapSet": 4,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,