Use turn desires when below the minimum lane change speed

Added toggle to use turn desires when below the minimum lane change speed for more precise turns.
2024-01-12 22:39:30 -07:00
parent fe8322fd5d
commit 5e77c2dea0
7 changed files with 54 additions and 1 deletions
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -22,6 +22,8 @@ enum FrogPilotEvents @0xf35cc4560bbf6ec2 {
  greenLight @1;
  pedalInterceptorNoBrake @2;
  torqueNNLoad @3;
+  turningLeft @4;
+  turningRight @5;
 }

 struct FrogPilotLateralPlan @0xda96579883444c35 {