加入轉向燈暫時取消 OP 方向盤控制選項

selfdrive/car/honda/carcontroller.py

@@ -6,6 +6,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
+from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
+dragonconf = dragonconf()
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
@@ -146,6 +148,8 @@ class CarController(object):
     # Send CAN commands.
     can_sends = []
 
+    if (CS.left_blinker_on or CS.right_blinker_on) and dragonconf.conf["tempDisableSteerOnSignal"]:
+      apply_steer = 0.
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,

selfdrive/car/toyota/carcontroller.py

@@ -8,6 +8,9 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_fcw_command
 from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSSP2_CAR
 from selfdrive.can.packer import CANPacker
+from selfdrive.dragonpilot.dragonconf.dragonconf import dragonconf
+dragonconf = dragonconf()
+
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -197,6 +200,8 @@ class CarController(object):
 
     can_sends = []
 
+    if (CS.left_blinker_on or CS.right_blinker_on) and dragonconf.conf["tempDisableSteerOnSignal"]:
+      apply_steer = 0.
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 

selfdrive/dragonpilot/dragonconf/dragonconf.py

@@ -41,6 +41,13 @@ class dragonconf():
     if has_new_def:
       self.write(config)
 
+    # Temporary disable OP lat control when on turning singal, default False
+    if "tempDisableSteerOnSignal" not in config:
+      config["tempDisableSteerOnSignal"] = False
+      has_new_def = True
+    if has_new_def:
+      self.write(config)
+
     return config
 
   def write(self, config):