mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-20 13:32:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'devel-en' into devel-zht

Browse Source
This commit is contained in:
dragonpilot
2019-10-27 09:57:18 +10:00
parent 63ac70dfb4 8ca719e75a
commit 5d7a4ef9ef
2 changed files with 21 additions and 21 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:
# gasPressed = CS.pedal_gas > 0
# else:
# gasPressed = CS.user_gas_pressed
# dragon_apply_brake = apply_brake
# if self.dragon_allow_gas and gasPressed:
# 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:
gasPressed = CS.pedal_gas > 0
else:
gasPressed = CS.user_gas_pressed
dragon_apply_brake = apply_brake
if self.dragon_allow_gas and gasPressed:
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/car/toyota/carcontroller.py
+10 -10
View File
@@ -120,7 +120,7 @@ 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
self.dragon_lane_departure_warning = True
@@ -130,7 +130,7 @@ 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
self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
@@ -247,15 +247,15 @@ 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 CS.CP.enableGasInterceptor:
# # use interceptor values to disengage on pedal press
# gasPressed = CS.pedal_gas > 15
# else:
# gasPressed = CS.pedal_gas > 0
if CS.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
gasPressed = CS.pedal_gas > 15
else:
gasPressed = CS.pedal_gas > 0
# if self.dragon_allow_gas and gasPressed:
# apply_accel = 0
# apply_gas = 0
if self.dragon_allow_gas and gasPressed:
apply_accel = 0
apply_gas = 0
# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):