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Controls - Experimental Mode Activation - Double Click LKAS

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Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel.
This commit is contained in:
FrogAi
2024-07-21 18:58:34 -07:00
parent 4b7b461995
commit b899f7b859
1 changed files with 11 additions and 0 deletions
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selfdrive/controls/controlsd.py
+11
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@@ -52,6 +52,7 @@ LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
EventName = car.CarEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
SafetyModel = car.CarParams.SafetyModel
@@ -924,6 +925,16 @@ class Controls:
if self.frogpilot_toggles.conditional_experimental_mode:
self.experimental_mode = frogpilotPlan.conditionalExperimentalActive
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
if self.frogpilot_toggles.experimental_mode_via_lkas and self.enabled:
if self.frogpilot_toggles.conditional_experimental_mode:
conditional_status = self.params_memory.get_int("CEStatus")
override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
self.params_memory.put_int("CEStatus", override_value)
else:
self.experimental_mode = not self.experimental_mode
self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
FPCC = custom.FrogPilotCarControl.new_message()
FPCC.alwaysOnLateral = self.always_on_lateral_active