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Always On Lateral

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Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
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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selfdrive/car/card.py
+4
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@@ -17,6 +17,7 @@ from opendbc.car.carlog import carlog
from opendbc.car.fw_versions import ObdCallback
from opendbc.car.car_helpers import get_car, interfaces
from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
from openpilot.selfdrive.car.cruise import VCruiseHelper
from openpilot.selfdrive.car.car_specific import MockCarState
@@ -174,6 +175,9 @@ class Car:
# FrogPilot variables
self.frogpilot_toggles = get_frogpilot_toggles()
if self.frogpilot_toggles.always_on_lateral:
self.FPCP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
fpcp_bytes = self.FPCP.to_bytes()
self.params.put("FrogPilotCarParams", fpcp_bytes)
self.params.put_nonblocking("FrogPilotCarParamsPersistent", fpcp_bytes)