github-actions[bot]
54e6124925
version: sunnypilot v2026.001.000 (dev) date: 2026-05-07T23:07:19 master commit: c28eb958740187620f2282023b8f1997cf90f583
35 lines
1.2 KiB
Python
35 lines
1.2 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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class LatControlTorqueExtOverride:
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def __init__(self, CP):
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self.CP = CP
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self.params = Params()
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self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl") # only during init
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self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
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self.frame = -1
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def update_override_torque_params(self, torque_params) -> bool:
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if not self.enforce_torque_control_toggle:
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return False
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self.frame += 1
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if self.frame % 300 == 0:
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self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
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if not self.torque_override_enabled:
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return False
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torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
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torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
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return True
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return False
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