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Merge branch 'sync-priv-20240201' into subaru-gen2-torque-increase

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This commit is contained in:
Jason Wen
2024-02-12 21:16:59 -05:00
parent 4119371a90 019257eb60
commit 7cb0ab83cd
1 changed files with 7 additions and 7 deletions
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selfdrive/controls/controlsd.py
+7 -7
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@@ -967,13 +967,6 @@ class Controls:
def step(self):
start_time = time.monotonic()
self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
if self.sm.frame % int(2.5 / DT_CTRL) == 0:
self.live_torque = self.params.get_bool("LiveTorque")
# Sample data from sockets and get a carState
CS = self.data_sample()
cloudlog.timestamp("Data sampled")
@@ -999,6 +992,13 @@ class Controls:
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
if self.CP.notCar:
self.joystick_mode = self.params.get_bool("JoystickDebugMode")
self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
if self.sm.frame % int(2.5 / DT_CTRL) == 0:
self.live_torque = self.params.get_bool("LiveTorque")
time.sleep(0.1)
def controlsd_thread(self):