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firestar5683
2025-11-18 15:43:52 -06:00
parent abac2983b5
commit e7ec4df222
9 changed files with 82 additions and 88 deletions
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frogpilot/common/frogpilot_variables.py
+1 -2
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@@ -19,7 +19,6 @@ from openpilot.selfdrive.car.mock.interface import CarInterface
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -572,7 +571,7 @@ class FrogPilotVariables:
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
steerKp = CP.lateralTuning.torque.kp
steerRatio = CP.steerRatio
toggle.stoppingDecelRate = CP.stoppingDecelRate
taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd