Merge branch 'devel-en' into devel-zht

# Conflicts:
#	apk/ai.comma.plus.offroad.apk

common/params.py

@@ -101,6 +101,7 @@ keys = {
   "DragonAllowGas": [TxType.PERSISTENT],
   "DragonBBUI": [TxType.PERSISTENT],
   "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
 }
 
 

selfdrive/car/honda/carcontroller.py

@@ -89,6 +89,7 @@ class CarController(object):
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
 
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
@@ -98,6 +99,7 @@ class CarController(object):
     if frame % 100 == 0:
       self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
       self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -165,6 +167,9 @@ class CarController(object):
       self.turning_signal_timer -= 1
       lkas_active = False
 
+    if not self.dragon_lat_ctrl:
+      lkas_active = False
+
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,

selfdrive/car/toyota/carcontroller.py

@@ -130,6 +130,7 @@ class CarController(object):
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
 
   def update(self, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
@@ -138,6 +139,7 @@ class CarController(object):
     if frame % 100 == 0:
       self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
       self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
 
     # *** compute control surfaces ***
 
@@ -217,6 +219,20 @@ class CarController(object):
       self.turning_signal_timer -= 1
       apply_steer_req = 0
 
+    if not self.dragon_lat_ctrl:
+      apply_steer_req = 0
+
+    if CS.v_ego > 12.5 and (not self.dragon_lat_ctrl or not enabled):
+      if right_lane_depart and not CS.right_blinker_on:
+        apply_steer = self.last_steer + 3
+        apply_steer = min(apply_steer , 800)
+        apply_steer_req = 1
+
+      if left_lane_depart and not CS.left_blinker_on:
+        apply_steer = self.last_steer - 3
+        apply_steer = max(apply_steer , -800)
+        apply_steer_req = 1
+
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -25,6 +25,7 @@ default_conf = {
   'DragonAllowGas': '0',
   'DragonBBUI': '0',
   'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
 }
 
 deprecated_conf = {