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Controls - Quality of Life - Pause Lateral Below

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Pause lateral control on all speeds below the set speed.
This commit is contained in:
FrogAi 2024-05-10 17:42:44 -07:00
parent 832ab8a7ac
commit d5f73e5117
1 changed files with 6 additions and 1 deletions
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7
selfdrive/controls/controlsd.py
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@ -73,6 +73,7 @@ class Controls:
self.drive_added = False self.drive_added = False
self.onroad_distance_pressed = False self.onroad_distance_pressed = False
self.openpilot_crashed_triggered = False self.openpilot_crashed_triggered = False
self.speed_check = False
self.display_timer = 0 self.display_timer = 0
self.drive_distance = 0 self.drive_distance = 0
@ -589,7 +590,7 @@ class Controls:
# Check which actuators can be enabled # Check which actuators can be enabled
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.joystick_mode) (not standstill or self.joystick_mode)
CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
@ -943,6 +944,7 @@ class Controls:
self.FPCC.alwaysOnLateral &= CS.cruiseState.available self.FPCC.alwaysOnLateral &= CS.cruiseState.available
self.FPCC.alwaysOnLateral &= self.card.always_on_lateral self.FPCC.alwaysOnLateral &= self.card.always_on_lateral
self.FPCC.alwaysOnLateral &= self.driving_gear self.FPCC.alwaysOnLateral &= self.driving_gear
self.FPCC.alwaysOnLateral &= self.speed_check
self.FPCC.alwaysOnLateral &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill self.FPCC.alwaysOnLateral &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill
if self.frogpilot_toggles.conditional_experimental_mode: if self.frogpilot_toggles.conditional_experimental_mode:
@ -977,6 +979,9 @@ class Controls:
else: else:
self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode) self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
signal_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or not (CS.leftBlinker or CS.rightBlinker) or CS.standstill
self.speed_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or CS.standstill or signal_check and self.frogpilot_toggles.pause_lateral_below_signal
self.FPCC.trafficModeActive = self.frogpilot_toggles.traffic_mode and self.params_memory.get_bool("TrafficModeActive") self.FPCC.trafficModeActive = self.frogpilot_toggles.traffic_mode and self.params_memory.get_bool("TrafficModeActive")
fpcc_send = messaging.new_message('frogpilotCarControl') fpcc_send = messaging.new_message('frogpilotCarControl')