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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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21
selfdrive/controls/controlsd.py
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@@ -108,6 +108,16 @@ class Controls:
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# Set "Always On Lateral" conditions
self.always_on_lateral = self.params.get_bool("AlwaysOnLateral")
self.always_on_lateral_main = self.params.get_bool("AlwaysOnLateralMain")
self.lateral_allowed = False
if self.always_on_lateral:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
if self.disengage_on_accelerator:
self.disengage_on_accelerator = False
self.params.put_bool("DisengageOnAccelerator", False)
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
# read params
@@ -596,9 +606,18 @@ class Controls:
gear = car.CarState.GearShifter
driving_gear = CS.gearShifter not in (gear.neutral, gear.park, gear.reverse, gear.unknown)
# Always on lateral
if self.always_on_lateral:
self.lateral_allowed &= CS.cruiseState.available
self.lateral_allowed |= CS.cruiseState.enabled or (CS.cruiseState.available and self.always_on_lateral_main)
self.FPCC.alwaysOnLateral = self.lateral_allowed and driving_gear
if self.FPCC.alwaysOnLateral:
self.current_alert_types.append(ET.WARNING)
# Check which actuators can be enabled
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl