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Merge branch 'navigationd-service' into nav-desires

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This commit is contained in:
James Vecellio-Grant
2025-11-16 15:42:20 -08:00
committed by GitHub
parent 8adbd56acd b48214acd2
commit 9c3a73b4cf
1 changed files with 4 additions and 4 deletions
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8
selfdrive/selfdrived/selfdrived.py
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@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
'modelDataV2SP', 'longitudinalPlanSP'] + \
self.camera_packets + self.sensor_packets + self.gps_packets,
self.camera_packets + self.sensor_packets + self.gps_packets,
ignore_alive=ignore, ignore_avg_freq=ignore,
ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -293,7 +293,7 @@ class SelfdriveD(CruiseHelper):
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['modelV2'].meta.laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
@@ -301,7 +301,7 @@ class SelfdriveD(CruiseHelper):
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing):
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
# Handle lane turn
@@ -496,7 +496,7 @@ class SelfdriveD(CruiseHelper):
# All pandas not in silent mode must have controlsAllowed when openpilot is enabled
if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
if ps.safetyModel not in IGNORED_SAFETY_MODES):
if ps.safetyModel not in IGNORED_SAFETY_MODES):
self.mismatch_counter += 1
return CS