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Controls - Lane Change Customizations - Nudgeless Lane Change

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Enable lane changes without requiring manual steering input.
This commit is contained in:
FrogAi 2024-05-27 02:57:32 -07:00
parent 2e90b94ee6
commit c758d4ffe5
1 changed files with 3 additions and 0 deletions
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3
selfdrive/controls/lib/desire_helper.py
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@ -66,6 +66,9 @@ class DesireHelper:
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
if frogpilot_toggles.nudgeless:
torque_applied = True
if not one_blinker or below_lane_change_speed:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none