From 1796598b52fbef2c044be78eeb5194fb35a602ec Mon Sep 17 00:00:00 2001 From: discountchubbs Date: Sun, 9 Nov 2025 14:38:45 -0800 Subject: [PATCH] for now --- .../navd/navigation_desires/navigation_desires.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/sunnypilot/navd/navigation_desires/navigation_desires.py b/sunnypilot/navd/navigation_desires/navigation_desires.py index e4a6d9a52c..c5eaa90f0e 100644 --- a/sunnypilot/navd/navigation_desires/navigation_desires.py +++ b/sunnypilot/navd/navigation_desires/navigation_desires.py @@ -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