sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Add APPROACHING signals for Subaru blindspot monitoring (#1864)

Browse Source 
old-commit-hash: 7b2789aa3a
commatwo_master
martinl 5 years ago committed by GitHub
parent c2836f6112
commit 0d6df8fc79
1 changed files with 4 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      selfdrive/car/subaru/carstate.py

6
selfdrive/car/subaru/carstate.py
Unescape View File

@ -38,8 +38,8 @@ class CarState(CarStateBase):
self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0) self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
ret.rightBlinker = self.right_blinker_cnt > 0 ret.rightBlinker = self.right_blinker_cnt > 0
ret.leftBlindspot = cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1 ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
ret.rightBlindspot = cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1 ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
can_gear = int(cp.vl["Transmission"]['Gear']) can_gear = int(cp.vl["Transmission"]['Gear'])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
@ -92,6 +92,8 @@ class CarState(CarStateBase):
("Gear", "Transmission", 0), ("Gear", "Transmission", 0),
("L_ADJACENT", "BSD_RCTA", 0), ("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0), ("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
] ]
checks = [ checks = [

Write Preview
Loading…
Cancel
Save