mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-06 14:16:39 +08:00
Shane Smiskol
35a99d7fc6
* use CP * no car control, consistent _update function signatures * eh it's fine to name it whatever * clean up * oops * !! * now we can delete this! * nobody does anymore old-commit-hash: 7248b00086f9b8d5d95c80a2eb7fe89c387f44ea
28 lines
854 B
Python
28 lines
854 B
Python
from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.nissan.values import CAR
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "nissan"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
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ret.autoResumeSng = False
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.1
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarUnavailable = True
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if candidate == CAR.NISSAN_ALTIMA:
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# Altima has EPS on C-CAN unlike the others that have it on V-CAN
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
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return ret
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