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2024-02-05 01:15:52 -06:00
parent 072ed7e50f
commit a81f6285c1
5 changed files with 62 additions and 47 deletions
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10
selfdrive/controls/controlsd.py
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@@ -343,11 +343,11 @@ class Controls:
# 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)
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