From 536d9f2fc39c59f7a14957e16ff3549f7df3b0e2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 4 Dec 2023 03:23:35 +0000 Subject: [PATCH] MADS: Allow NoO in Chill Mode --- CHANGELOGS.md | 3 +++ selfdrive/modeld/modeld.py | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 8b115ef7aa..53d1a47106 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,5 +1,8 @@ sunnypilot - 0.9.5.2 (2023-xx-xx) ======================== +* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode + * Allow navigation to feed map view into the driving model while using Chill Mode + * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode * NEW❗: Hyundai CAN longitudinal: * NEW❗: Enable radar tracks for certain Santa Fe platforms * Internal Combustion Engine (ICE) 2021-23 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 2b211b22e6..ff3dc1f010 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -224,7 +224,7 @@ def main(): # Enable/disable nav features timestamp_llk = sm["navModel"].locationMonoTime nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) - nav_enabled = nav_valid and params.get_bool("ExperimentalMode") + nav_enabled = nav_valid if not nav_enabled: nav_features[:] = 0