Remove lane change toggle and default LDW to off (#20442)
* remove lane change toggle and default LDW to off * update refspull/20444/head
parent
f1da1f9cb2
commit
43ce7165c4
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@ -49,7 +49,6 @@ keys = {
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b"LastUpdateTime": [TxType.PERSISTENT],
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b"LiveParameters": [TxType.PERSISTENT],
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b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
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b"LaneChangeEnabled": [TxType.PERSISTENT],
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b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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@ -8,7 +8,6 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
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from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT, MPC_N, CAR_ROTATION_RADIUS
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from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
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from selfdrive.config import Conversions as CV
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from common.params import Params
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import cereal.messaging as messaging
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from cereal import log
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@ -54,7 +53,6 @@ class LateralPlanner():
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self.setup_mpc()
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self.solution_invalid_cnt = 0
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self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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@ -104,7 +102,7 @@ class LateralPlanner():
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elif sm['carState'].rightBlinker:
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self.lane_change_direction = LaneChangeDirection.right
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if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not self.lane_change_enabled):
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if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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else:
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@ -37,11 +37,10 @@ def manager_init(spinner=None):
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("HasAcceptedTerms", "0"),
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("HasCompletedSetup", "0"),
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("IsUploadRawEnabled", "1"),
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("IsLdwEnabled", "1"),
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("IsLdwEnabled", "0"),
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("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
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("OpenpilotEnabledToggle", "1"),
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("VisionRadarToggle", "0"),
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("LaneChangeEnabled", "1"),
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("IsDriverViewEnabled", "0"),
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]
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@ -1 +1 @@
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f88eda1b667eac0654f65281a16e7713836cb705
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3da639f754563292103525345ec26e384e4cb9a5
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@ -27,12 +27,6 @@ QWidget * toggles_panel() {
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"../assets/offroad/icon_openpilot.png"
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));
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toggles_list->addWidget(horizontal_line());
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toggles_list->addWidget(new ParamControl("LaneChangeEnabled",
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"Enable Lane Change Assist",
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"Perform assisted lane changes with openpilot by checking your surroundings for safety, activating the turn signal and gently nudging the steering wheel towards your desired lane. openpilot is not capable of checking if a lane change is safe. You must continuously observe your surroundings to use this feature.",
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"../assets/offroad/icon_road.png"
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));
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toggles_list->addWidget(horizontal_line());
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toggles_list->addWidget(new ParamControl("IsLdwEnabled",
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"Enable Lane Departure Warnings",
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"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",
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