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firestar5683
e4f3d6661c
Implement acceleration profiles, FollowJerk, force-stop and lead-departure owners. Keep selected acceleration limits and hazard arbitration explicit at their shared boundaries. Co-authored-by: whoisdomi <dcantu83@gmail.com>
17 lines
624 B
Python
17 lines
624 B
Python
"""Optional G90 display input; missing radar never gates ordinary controls."""
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from opendbc.car.hyundai.g90_lead import LeadObservation
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from openpilot.starpilot.longitudinal.radar_lead_context import RadarLeadContext
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class G90LeadInputs(RadarLeadContext):
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def __init__(self):
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super().__init__(require_radar=True)
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def update(self):
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context = super().update()
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if context is None:
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return None
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radar = context.radar
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return LeadObservation(context.drive_id, radar.producer_ns, radar.receipt_ns, context.mono_now_ns,
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radar.present, radar.distance, radar.relative_speed)
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