From 87de29ee4712aa3b99fc9c11fe26403e732fc717 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Thu, 4 Jul 2019 15:02:27 +1000 Subject: [PATCH] lkmod from honda --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/carstate.py | 11 ++++++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 3fc2915b7..0c04c7e4b 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -146,7 +146,7 @@ class CarController(object): apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1)) apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX)) - lkas_active = enabled and not CS.steer_not_allowed + lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode # Send CAN commands. can_sends = [] diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 6c0aec52a..a87441da2 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -198,6 +198,8 @@ class CarState(object): K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 + self.lkMode = True + def update(self, cp, cp_cam): # car params @@ -206,7 +208,6 @@ class CarState(object): # update prevs, update must run once per loop self.prev_cruise_buttons = self.cruise_buttons - self.prev_cruise_setting = self.cruise_setting self.prev_blinker_on = self.blinker_on self.prev_left_blinker_on = self.left_blinker_on @@ -268,6 +269,14 @@ class CarState(object): self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE'] self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE'] + # when user presses LKAS button on steering wheel + if self.cruise_setting == 1: + if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0: + if self.lkMode: + self.lkMode = False + else: + self.lkMode = True + self.prev_cruise_setting = self.cruise_setting self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING'] self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']