def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
if CP.spasEnabled:
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.spas_always = False
self.scc_smoother = SccSmoother(accel_gain=1.0, decel_gain=1.0, curvature_gain=0.8)
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.accel = 0
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.turning_indicator_alert = False
param = Params()
self.mad_mode_enabled = param.get_bool('MadModeEnabled')
self.ldws_opt = param.get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = param.get_bool('StockNaviDecelEnabled')
self.keep_steering_turn_signals = param.get_bool(
'KeepSteeringTurnSignals')
self.haptic_feedback_speed_camera = param.get_bool(
'HapticFeedbackWhenSpeedCamera')
self.scc_smoother = SccSmoother()
self.last_blinker_frame = 0
self.prev_active_cam = False
self.active_cam_timer = 0
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.turning_indicator_alert = False
param = Params()
self.mad_mode_enabled = param.get_bool('MadModeEnabled')
self.ldws_opt = param.get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = param.get_bool('StockNaviDecelEnabled')
self.keep_steering_turn_signals = param.get_bool(
'KeepSteeringTurnSignals')
self.warning_over_speed_limit = param.get_bool('WarningOverSpeedLimit')
# gas_factor, brake_factor
# Adjust it in the range of 0.7 to 1.3
self.scc_smoother = SccSmoother()
self.last_blinker_frame = 0
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.mad_mode_enabled = Params().get_bool('MadModeEnabled')
self.ldws_opt = Params().get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = Params().get_bool(
'StockNaviDecelEnabled')
# gas_factor, brake_factor
# Adjust it in the range of 0.7 to 1.3
self.scc_smoother = SccSmoother()
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.mad_mode_enabled = Params().get_bool('MadModeEnabled')
self.scc_smoother = SccSmoother(1.0)