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Pause steering with an active turn signal

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James
2025-12-01 12:00:00 -07:00
parent f087ceff51
commit 45a36222a4
1 changed files with 1 additions and 0 deletions
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frogpilot/controls/frogpilot_planner.py
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@@ -94,6 +94,7 @@ class FrogPilotPlanner:
self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed
self.lateral_check |= not (sm["carState"].leftBlinker or sm["carState"].rightBlinker) and frogpilot_toggles.pause_lateral_below_signal
self.lateral_check |= sm["carState"].standstill
self.lateral_check &= not sm["frogpilotCarState"].pauseLateral