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Merge branch 'master' into visuals-hide-camera

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royjr
2026-06-09 11:45:28 -04:00
committed by GitHub
parent 978366d817 01a843e0ac
commit 2ac48084a8
2 changed files with 9 additions and 0 deletions
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selfdrive/ui/sunnypilot/layouts/settings/steering.py
+5
View File
@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
nnlc_enabled = self._nnlc_toggle.action_item.get_state()
if enforce_torque_enabled and nnlc_enabled:
self._torque_control_toggle.action_item.set_state(False)
self._nnlc_toggle.action_item.set_state(False)
enforce_torque_enabled = False
nnlc_enabled = False
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
selfdrive/ui/sunnypilot/ui_state.py
+4
View File
@@ -180,6 +180,10 @@ class UIStateSP:
CP = self.CP
if CP is not None:
if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
self.params.put_bool("EnforceTorqueControl", False, block=True)
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
# Angle steering: no torque-based lateral controls
if CP.steerControlType == car.CarParams.SteerControlType.angle:
self.params.remove("EnforceTorqueControl")