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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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6
selfdrive/controls/lib/desire_helper.py
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@@ -91,11 +91,11 @@ class DesireHelper:
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
# elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires:
elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires:
# BBOT
# self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
# Set the "turn_completed" flag to prevent lane changes after completing a turn
# self.turn_completed = True
self.turn_completed = True
else:
# TurnDirection.turnLeft / turnRight
self.turn_direction = TurnDirection.none