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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6
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -55,7 +55,7 @@ def calculate_lane_width(lane, current_lane, road_edge):
class FrogPilotPlanner:
def __init__(self, params):
def __init__(self, params, params_memory):
self.cem = ConditionalExperimentalMode()
self.mtsc = MapTurnSpeedController()
@@ -69,7 +69,7 @@ class FrogPilotPlanner:
self.x_desired_trajectory = np.zeros(CONTROL_N)
self.update_frogpilot_params(params)
self.update_frogpilot_params(params, params_memory)
def update(self, sm, mpc):
carState, controlsState, modelData = sm['carState'], sm['controlsState'], sm['modelV2']
@@ -203,7 +203,7 @@ class FrogPilotPlanner:
pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)
def update_frogpilot_params(self, params):
def update_frogpilot_params(self, params, params_memory):
self.is_metric = params.get_bool("IsMetric")
self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")