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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
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@@ -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.