mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-04 15:13:58 +08:00
Code Issues Packages Projects Releases Wiki Activity

Always On Lateral

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -107,7 +107,7 @@ class Controls:
# Check which actuators can be enabled
standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CC.latActive = (self.sm['selfdriveState'].active or self.sm['frogpilotCarState'].alwaysOnLateralEnabled) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.CP.steerAtStandstill) and self.sm['frogpilotPlan'].lateralCheck
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl