From dde59cc13559bccb242fa88a8b3543025d6a9192 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Sep 2024 00:48:53 -0700 Subject: [PATCH] toggle via exp button --- selfdrive/selfdrived/selfdrived.py | 1 + tools/longitudinal_maneuvers/maneuversd.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 80a80d4641..ce0e2d0db9 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -475,6 +475,7 @@ 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.params.put_bool_nonblocking("LongitudinalManeuverMode", self.experimental_mode) time.sleep(0.1) def run(self): diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index 57a2a322df..ff504ad7cc 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -148,7 +148,7 @@ def main(): pm.send('alertDebug', alert_msg) longitudinalPlan.aTarget = accel - longitudinalPlan.shouldStop = cs.vEgo < CP.vEgoStopping and accel < 0 # should_stop + longitudinalPlan.shouldStop = cs.vEgo < CP.vEgoStopping and accel < 0 longitudinalPlan.allowBrake = True longitudinalPlan.allowThrottle = True