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IQ.Pilot Release Commit @ 24db8ae

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IQ.Lvbs CI [bot]
2026-08-25 22:13:17 -05:00
parent 2f0ec679ec
commit 31a37f5a3c
67 changed files with 6134 additions and 137 deletions
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6
iqpilot/selfdrive/monitoring/dmonitoringd.py
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@@ -13,7 +13,8 @@ def dmonitoringd_thread():
sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
'carControl'], poll='driverStateV2')
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"),
force_rhd=params.get_bool("ForceRHDForBSM"))
demo_mode=False
# 20Hz <- dmonitoringmodeld
@@ -36,10 +37,11 @@ def dmonitoringd_thread():
# load live always-on toggle
if sm['driverStateV2'].frameId % 40 == 1:
DM.always_on = params.get_bool("AlwaysOnDM")
DM.force_rhd = params.get_bool("ForceRHDForBSM")
demo_mode = params.get_bool("IsDriverViewEnabled")
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and not DM.force_rhd and
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)