mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-08-24 01:33:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

加入 Toyota/Lexus 原廠 DSU 模式

Browse Source
This commit is contained in:
Dragonpilot
2019-07-29 13:26:30 +10:00
parent bfda984aa1
commit 4b54ecdf2f
5 changed files with 34 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+6 -3
View File
@@ -479,6 +479,8 @@ def controlsd_thread(gctx=None):
prof = Profiler(False) # off by default
dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
@@ -505,9 +507,10 @@ def controlsd_thread(gctx=None):
if not CS.canValid:
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if dragon_toyota_stock_dsu:
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state