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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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2
selfdrive/ui/qt/maps/map.cc
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@@ -124,7 +124,7 @@ void MapWindow::updateState(const UIState &s) {
if (sm.updated("modelV2")) {
// set path color on change, and show map on rising edge of navigate on openpilot
bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
sm["controlsState"].getControlsState().getEnabled();
(sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral());
if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
if (loaded_once) {
m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));