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Add steering pressed and torque to desire for non blindspot cars, and a note!

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This commit is contained in:
discountchubbs
2025-10-28 06:43:00 -07:00
parent 8c07958f6f
commit 5f5e3668eb
2 changed files with 10 additions and 5 deletions
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sunnypilot/navd/navigation_desires/navigation_desires.py
+7 -2
View File
@@ -35,10 +35,15 @@ class NavigationDesires:
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 not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
elif (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 not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker
and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit):
self.desire = log.Desire.turnRight
# Note to reviewers: This change to require steering pressed (nudge basically) is intentional to prevent unwanted turns
# for those who don't have blind spot detection.
def get_desire(self) -> log.Desire:
return self.desire
sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+3 -3
View File
@@ -26,9 +26,9 @@ NAVIGATION_PARAMS: list[tuple] = [
('slightRight', make_car(), log.Desire.keepRight),
('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, steeringPressed=True, steeringTorque=1), log.Desire.turnLeft),
('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False, steeringPressed=True, steeringTorque=-1), log.Desire.turnRight),
('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
]
@@ -75,7 +75,7 @@ def test_update(mock_submaster, mocker):
mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
nav_desires = NavigationDesires()
nav_desires.update(make_car(leftBlinker=True), True)
nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True)
assert nav_desires.get_desire() == log.Desire.turnLeft
params_setter(False)