mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-19 21:12:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'devel-en' into devel-zhs

Browse Source
This commit is contained in:
dragonpilot
2019-10-30 09:32:04 +10:00
parent 401dd06754 4f41bfcd9e
commit 2f0c4a343c
2 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carcontroller.py
+11 -11
View File
@@ -88,7 +88,7 @@ class CarController():
# dragonpilot
self.turning_signal_timer = 0
self.dragon_enable_steering_on_signal = False
# self.dragon_allow_gas = False
self.dragon_allow_gas = False
self.dragon_lat_ctrl = True
def update(self, enabled, CS, frame, actuators, \
@@ -97,7 +97,7 @@ class CarController():
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
# self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
# *** apply brake hysteresis ***
@@ -190,15 +190,15 @@ class CarController():
# DragonAllowGas
# if we detect gas pedal pressed, we do not want OP to apply gas or brake
# gasPressed code from interface.py
# if not CS.CP.enableGasInterceptor:
# gas_pressed = CS.pedal_gas > 0
# else:
# gas_pressed = CS.user_gas_pressed
# dragon_apply_brake = apply_brake
# if self.dragon_allow_gas and gas_pressed:
# dragon_apply_brake = 0
# apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
if not CS.CP.enableGasInterceptor:
gas_pressed = CS.pedal_gas > 0
else:
gas_pressed = CS.user_gas_pressed
dragon_apply_brake = apply_brake
if self.dragon_allow_gas and gas_pressed:
dragon_apply_brake = 0
apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
self.apply_brake_last = apply_brake
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -575,7 +575,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
if dragon_lead_car_moving_alert:
# when car has a lead and is standstill and lead is barely moving, we start counting
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.2 >= abs(sm['plan'].vTarget) >= 0:
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.3 >= abs(sm['plan'].vTarget) >= 0:
dragon_stopped_has_lead_count += 1
else:
dragon_stopped_has_lead_count = 0