brianhansonxyz/oscarpilot
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This commit is contained in:
FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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2
selfdrive/car/honda/carcontroller.py
View File

@@ -253,7 +253,7 @@ class CarController:
if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed

2
selfdrive/car/honda/carstate.py
View File

@@ -288,7 +288,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:

4
selfdrive/car/honda/hondacan.py
View File

@@ -122,7 +122,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
@@ -155,7 +155,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
lkas_hud_values = {
'SET_ME_X41': 0x41,
'STEERING_REQUIRED': hud.steer_required,
'SOLID_LANES': hud.lanes_visible,
'SOLID_LANES': lat_active,
'BEEP': 0,
}