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Merge branch 'devel-en' into devel-zhs

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dragonpilot
2019-08-19 14:26:35 +10:00
parent ee3f1cded6 81836bba3f
commit bf70999eb4
1 changed files with 4 additions and 3 deletions
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selfdrive/controls/controlsd.py
+4 -3
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@@ -214,7 +214,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_
def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
AM, rk, driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc):
AM, rk, driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc, dragon_lat_control):
"""Given the state, this function returns an actuators packet"""
actuators = car.CarControl.Actuators.new_message()
@@ -264,7 +264,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, VM, path_plan)
# Send a "steering required alert" if saturation count has reached the limit
if LaC.sat_flag and CP.steerLimitAlert:
if dragon_lat_control and LaC.sat_flag and CP.steerLimitAlert:
AM.add(frame, "steerSaturated", enabled)
# Parse permanent warnings to display constantly
@@ -511,6 +511,7 @@ def controlsd_thread(gctx=None):
ts = sec_since_boot()
if ts - ts_last_check > 3.:
dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
dragon_lat_control = False if params.get("DragonLatCtrl") == "0" else True
ts_last_check = ts
start_time = sec_since_boot()
@@ -556,7 +557,7 @@ def controlsd_thread(gctx=None):
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc, dragon_lat_control)
prof.checkpoint("State Control")