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Controls - Lane Change Customizations - Nudgeless Lane Change

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Enable lane changes without requiring manual steering input.
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FrogAi
2024-06-18 12:55:14 -07:00
parent 6e820db364
commit d619bcf360
1 changed files with 2 additions and 0 deletions
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selfdrive/controls/lib/desire_helper.py
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@@ -79,6 +79,8 @@ class DesireHelper:
if torque_applied:
self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay
torque_applied |= frogpilot_toggles.nudgeless
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))