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Always On Lateral

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Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
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James
2025-12-01 12:00:00 -07:00
parent aa47ad829f
commit c8ba3e3b9e
49 changed files with 372 additions and 22 deletions
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frogpilot/common/frogpilot_variables.py
+8
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@@ -14,6 +14,7 @@ from cereal import car, custom, log
from opendbc.car import gen_empty_fingerprint
from opendbc.car.car_helpers import interfaces
from opendbc.car.gm.values import GMFlags
from opendbc.car.hyundai.values import HyundaiFlags
from opendbc.car.interfaces import CarInterfaceBase, GearShifter
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.subaru.values import SubaruFlags
@@ -207,9 +208,11 @@ class FrogPilotVariables:
toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.ZSS.value)
is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
latAccelFactor = CP.lateralTuning.torque.latAccelFactor
toggle.lkas_allowed_for_aol = toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
longitudinalActuatorDelay = CP.longitudinalActuatorDelay
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
pcm_cruise = CP.pcmCruise
prohibited_main_aol = not toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
@@ -265,6 +268,11 @@ class FrogPilotVariables:
toggle.warningSoft_volume = self.get_value("WarningSoftVolume", cast=float, condition=toggle.alert_volume_controller)
toggle.warningImmediate_volume = max(self.get_value("WarningImmediateVolume", cast=float, condition=toggle.alert_volume_controller, default=25), 25)
toggle.always_on_lateral = self.get_value("AlwaysOnLateral")
toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and self.get_value("AlwaysOnLateralLKAS")
toggle.always_on_lateral_main = toggle.always_on_lateral and not prohibited_main_aol and not toggle.always_on_lateral_lkas
toggle.always_on_lateral_pause_speed = self.get_value("PauseAOLOnBrake", cast=float, condition=toggle.always_on_lateral)
toggle.automatic_updates = self.get_value("AutomaticUpdates", condition=(self.release_branch or self.vetting_branch), default=True) and not BACKUP_PATH.is_file()
car_model = self.params.get("CarModel")