brianhansonxyz/oscarpilot
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Increase max speed by 5 on short press

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Added function to increase the value of the max speed by 5 instead of 1 by taping the "Max" speed icon in the onroad UI.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent f4caa201cc
commit 72fac6ed9d
7 changed files with 40 additions and 14 deletions
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6
selfdrive/car/toyota/carcontroller.py
View File

@@ -42,8 +42,10 @@ class CarController:
self.accel = 0
# FrogPilot variables
self.reverse_cruise_increase = False
def update_frogpilot_variables(self, params):
self.reverse_cruise_increase = params.get_bool("ReverseCruise")
def update(self, CC, CS, now_nanos, sport_plus):
actuators = CC.actuators
@@ -149,10 +151,10 @@ class CarController:
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, self.reverse_cruise_increase))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.reverse_cruise_increase))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.

4
selfdrive/car/toyota/toyotacan.py
View File

@@ -33,7 +33,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, reverse_cruise):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
"PERMIT_BRAKING": 1,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ALLOW_LONG_PRESS": 2 if reverse_cruise else 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
}
return packer.make_can_msg("ACC_CONTROL", 0, values)