From 81836bba3f0eff2c5c1d57d8925117ac5c134688 Mon Sep 17 00:00:00 2001 From: dragonpilot Date: Mon, 19 Aug 2019 14:26:03 +1000 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=20honda=20lat=20ctrl=20?= =?UTF-8?q?=E9=97=9C=E9=96=89=E6=99=82=E6=9C=83=20trigger=20steerSaturated?= =?UTF-8?q?=20=E9=8C=AF=E8=AA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/controlsd.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f4a63e8cb..e4f79638a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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")