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discountchubbs
2025-11-09 14:38:45 -08:00
parent ec031ffeb6
commit 1796598b52
1 changed files with 5 additions and 5 deletions
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sunnypilot/navd/navigation_desires/navigation_desires.py
+5 -5
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@@ -31,11 +31,11 @@ class NavigationDesires:
self.desire = log.Desire.none
if self.nav_allowed and nav_msg.valid and lateral_active:
upcoming = nav_msg.upcomingTurn
if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
self.desire = log.Desire.keepLeft
elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
self.desire = log.Desire.keepRight
elif (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
# if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
# self.desire = log.Desire.keepLeft
# elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
# self.desire = log.Desire.keepRight
if (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit):
self.desire = log.Desire.turnLeft
elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker