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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>
16 lines
679 B
Python
16 lines
679 B
Python
"""Drive-start selection of vision-only longitudinal leads."""
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from openpilot.starpilot.saved_source import read_saved
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KEY = "UseVOACC"
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DESCRIPTION = ("Use vision-only adaptive cruise control instead of radar-assisted lead detection. " +
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"Requires StarPilot longitudinal control. Applies next drive; radar faults and safety checks remain active.")
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def selected(params, cp) -> bool:
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if (cp is None or not getattr(cp, "openpilotLongitudinalControl", False) or
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getattr(cp, "notCar", True) or getattr(cp, "dashcamOnly", True) or getattr(cp, "passive", True)):
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return False
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raw, readable = read_saved(params, KEY, 8)
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return readable and raw == b"1"
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