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/selfdrive/frogpilot/functions/frogpilot_planner.py
+++ b/selfdrive/frogpilot/functions/frogpilot_planner.py
@@ -209,3 +209,5 @@ class FrogPilotPlanner:
    if self.speed_limit_controller:
      self.speed_limit_controller_override = params.get_int("SLCOverride")
      SpeedLimitController.update_frogpilot_params()
+
+    self.turn_desires = params.get_bool("TurnDesires")