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concordia
2024-02-08 12:46:30 -06:00
parent 7853d218a3
commit 90b8e9f072
5 changed files with 37 additions and 32 deletions
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7
selfdrive/controls/controlsd.py
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@@ -604,7 +604,8 @@ class Controls:
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_helper.initialize_v_cruise(CS, self.frogpilot_variables, self.experimental_mode, self.conditional_experimental_mode)
self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.conditional_experimental_mode)
# self.v_cruise_helper.initialize_v_cruise(CS, self.frogpilot_variables, self.experimental_mode, self.conditional_experimental_mode)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
@@ -1002,8 +1003,8 @@ class Controls:
self.average_desired_curvature = self.params.get_bool("AverageCurvature")
self.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental")
self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled")
self.frogpilot_variables.CSLCA = self.params.get_bool("CSLCAvailable")
# self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled")
# self.frogpilot_variables.CSLCA = self.params.get_bool("CSLCAvailable")
custom_theme = self.params.get_bool("CustomTheme")
custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0

12
selfdrive/controls/lib/drive_helpers.py
View File

@@ -134,15 +134,15 @@ class VCruiseHelper:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
def initialize_v_cruise(self, CS, frogpilot_variables, experimental_mode: bool, conditional_experimental_mode) -> None:
def initialize_v_cruise(self, CS, experimental_mode: bool, conditional_experimental_mode) -> None:
# initializing is handled by the PCM
if self.CP.pcmCruise and not frogpilot_variables.CSLC:
if self.CP.pcmCruise:
return
if frogpilot_variables.CSLC:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = self.v_cruise_kph
return
# if frogpilot_variables.CSLC:
# self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# self.v_cruise_cluster_kph = self.v_cruise_kph
# return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not conditional_experimental_mode else V_CRUISE_INITIAL