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FrogPilot setup - Configure cereal

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FrogAi
2024-05-29 03:31:09 -07:00
parent f1a2a6474c
commit 7965a1eaa7
39 changed files with 242 additions and 85 deletions
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selfdrive/modeld/modeld.py
+2 -2
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@@ -154,7 +154,7 @@ def main(demo=False):
# messaging
pm = PubMaster(["modelV2", "cameraOdometry"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "frogpilotPlan"])
publish_state = PublishState()
params = Params()
@@ -299,7 +299,7 @@ def main(demo=False):
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
lane_change_prob = l_lane_change_prob + r_lane_change_prob
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'])
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction