mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-30 19:33:45 +08:00
Jason Wen
de64b99740
* init * use internal frame * exit early if toggle not enabled * ui init * ui: replace `static_cast<int>` with `std::nearbyint` for precise rounding * revert * update title * handle live relaxed * fix * tweak ui * toggle behaviors * lint * Update torqued_ext.py * always update * make sure it's updated properly with offroad states * fix * make sure to initialize --------- Co-authored-by: nayan <nayan8teen@gmail.com>
35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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class LatControlTorqueExtOverride:
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def __init__(self, CP):
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self.CP = CP
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self.params = Params()
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self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl") # only during init
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self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
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self.frame = -1
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def update_override_torque_params(self, torque_params) -> bool:
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if not self.enforce_torque_control_toggle:
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return False
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self.frame += 1
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if self.frame % 300 == 0:
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self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
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if not self.torque_override_enabled:
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return False
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torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
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torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
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return True
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return False
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