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Update controlsd.py pass through long param

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infiniteCable2
2025-10-02 20:03:49 +02:00
committed by GitHub
parent 69d2dec9b3
commit 4af82364f8
1 changed files with 3 additions and 0 deletions
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selfdrive/controls/controlsd.py
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@@ -64,6 +64,7 @@ class Controls(ControlsExt, ModelStateBase):
self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
self.enable_long_comfort_mode = self.params.get_bool("EnableLongComfortMode")
self.smooth_steer = PT2Filter(46.0, 1.0, DT_CTRL)
self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
@@ -97,6 +98,7 @@ class Controls(ControlsExt, ModelStateBase):
self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
self.enable_long_comfort_mode = self.params.get_bool("EnableLongComfortMode")
def state_control(self):
CS = self.sm['carState']
@@ -192,6 +194,7 @@ class Controls(ControlsExt, ModelStateBase):
CC.curvatureControllerActive = self.enable_curvature_controller # for car controller curvature correction activation
CC.steerLimited = self.steer_limited_by_safety
CC.forceRHDForBSM = self.force_rhd_for_bsm
CC.longComfortMode = self.enable_long_comfort_mode
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller