mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-10-01 06:03:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

some are toggleable while onroad

Browse Source
This commit is contained in:
Jason Wen
2025-01-04 10:46:57 -05:00
parent 279c973ebd
commit 4eb7c2ba15
2 changed files with 12 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/selfdrived/selfdrived.py
+2
View File
@@ -493,6 +493,8 @@ class SelfdriveD:
self.is_metric = self.params.get_bool("IsMetric")
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
self.personality = self.read_personality_param()
self.mads.read_params()
time.sleep(0.1)
def run(self):
sunnypilot/mads/mads.py
+10 -5
View File
@@ -43,7 +43,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
class ModularAssistiveDrivingSystem:
def __init__(self, selfdrive):
mads_params = MadsParams()
self.mads_params = MadsParams()
self.enabled = False
self.active = False
@@ -60,10 +60,15 @@ class ModularAssistiveDrivingSystem:
(self.selfdrive.CP.flags & HyundaiFlags.CANFD):
self.allow_always = True
self.enabled_toggle = mads_params.read_param("Mads")
self.main_enabled_toggle = mads_params.read_param("MadsMainCruiseAllowed")
self.pause_lateral_on_brake_toggle = mads_params.read_param("MadsPauseLateralOnBrake")
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode")
# read params on init
self.enabled_toggle = self.mads_params.read_param("Mads")
self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
def read_params(self):
self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
def update_controls_mismatch(self, sm: messaging.SubMaster):
heartbeat_engaged = self.active if self.pause_lateral_on_brake_toggle else self.enabled