mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-20 20:32:06 +08:00
Rick Lan
27e12ccad7
======================== * Based on latest openpilot 0.7.8 devel. * Added "Reset DP Settings" button. (Thanks to @LOVEChen) * Alert messages changed to concept UI alike design. * Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
43 lines
1.4 KiB
Python
43 lines
1.4 KiB
Python
#!/usr/bin/env python3.7
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import subprocess
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from cereal import car
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from common.params import Params
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params = Params()
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def is_online():
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try:
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return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
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except ProcessLookupError:
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return False
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def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
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if enabled:
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if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
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steer_req = 0 if isinstance(steer_req, int) else False
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return steer_req
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def common_interface_atl(ret, atl):
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# dp
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enable_acc = ret.cruiseState.enabled
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if atl and ret.cruiseState.available:
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enable_acc = True
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if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
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enable_acc = False
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if ret.seatbeltUnlatched or ret.doorOpen:
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enable_acc = False
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return enable_acc
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def common_interface_get_params_lqr(ret):
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if params.get('dp_lqr') == b'1':
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ret.lateralTuning.init('lqr')
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ret.lateralTuning.lqr.scale = 1500.0
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ret.lateralTuning.lqr.ki = 0.05
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ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
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ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
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ret.lateralTuning.lqr.c = [1., 0.]
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ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
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ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
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ret.lateralTuning.lqr.dcGain = 0.002237852961363602
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return ret
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