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https://github.com/firestar5683/StarPilot.git
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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>
27 lines
847 B
Python
27 lines
847 B
Python
"""Persistent, default-off lead takeoff preference; invalid bytes never activate it."""
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from openpilot.starpilot.saved_source import read_saved
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KEY = 'FasterLeadTakeoff'
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class TakeoffPreferences:
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def __init__(self, params):
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self.params = params
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self.enabled = False
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self.next_ns = 0
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self.last_ns = 0
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def sample(self, now_ns):
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if now_ns < self.last_ns:
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self.next_ns = 0
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self.last_ns = now_ns
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if now_ns >= self.next_ns:
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self.next_ns = now_ns + 1_000_000_000
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try:
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raw, readable = read_saved(self.params, KEY, 16)
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safe, safe_readable = read_saved(self.params, 'SafeMode', 16)
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self.enabled = readable and safe_readable and raw == b'1' and safe in (None, b'0')
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except (OSError, RuntimeError, TypeError, ValueError):
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self.enabled = False
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return self.enabled
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