brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Conditional Experimental Mode

Browse Source 
Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent c844593f66
commit ccf674762e
17 changed files with 378 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
selfdrive/controls/lib/drive_helpers.py
View File

@@ -128,12 +128,12 @@ 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, experimental_mode: bool) -> None:
def initialize_v_cruise(self, CS, experimental_mode: bool, conditional_experimental_mode) -> None:
# initializing is handled by the PCM
if self.CP.pcmCruise:
return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not conditional_experimental_mode else V_CRUISE_INITIAL
# 250kph or above probably means we never had a set speed
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: