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Use turn desires when below the minimum lane change speed

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Added toggle to use turn desires when below the minimum lane change speed for more precise turns.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent fe8322fd5d
commit 5e77c2dea0
7 changed files with 54 additions and 1 deletions
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7
selfdrive/controls/controlsd.py
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@@ -340,6 +340,13 @@ class Controls:
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
# Handle turning
if not CS.standstill:
if self.sm['lateralPlan'].desire == Desire.turnLeft:
self.events.add(FrogPilotEventName.turningLeft)
elif self.sm['lateralPlan'].desire == Desire.turnRight:
self.events.add(FrogPilotEventName.turningRight)
for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
if i < len(self.CP.safetyConfigs):