mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-08-21 08:03:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #4 from eFiniLan/dragonpilot-dev-lkmod

Browse Source 
加入 honda 的 Lane Keeping 模式開關
This commit is contained in:
dragonpilot
2019-07-12 09:47:07 +10:00
committed by GitHub
parent a8ac2023d5 5ab145d968
commit 0cee9d388a
6 changed files with 34 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carcontroller.py
+3 -3
View File
@@ -72,7 +72,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "mini_car", "car", "X4",
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
class CarController(object):
@@ -126,7 +126,7 @@ class CarController(object):
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)
# **** process the car messages ****
@@ -146,7 +146,7 @@ class CarController(object):
apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
lkas_active = enabled and not CS.steer_not_allowed
lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode
# Send CAN commands.
can_sends = []