IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ e46d557

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-07 00:13:39 -05:00
parent 03c3158b81
commit 824bb9ddfd
216 changed files with 7457 additions and 3151 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/controls/controlsd.py
View File

@@ -168,8 +168,11 @@ class Controls(IQControlsLayer):
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
(not standstill or self.CP.steerAtStandstill)
# long control may stay active through a gas override on platforms that opt in
override_longitudinal = any(e.overrideLongitudinal for e in self.sm['onroadEvents'])
long_through_override = self.CP_IQ.longActiveWithGasOverride and self.CP.openpilotLongitudinalControl
CC.longActive = CC.enabled and not getattr(CS, 'cruiseFaultLateralMode', False) and \
not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
(not override_longitudinal or long_through_override) and \
(self.CP.openpilotLongitudinalControl or not self.CP_IQ.pcmCruiseSpeed)
actuators = CC.actuators
@@ -184,7 +187,7 @@ class Controls(IQControlsLayer):
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_IQ, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits,
long_plan.leadDistance, long_plan.hasLead))
long_plan.leadDistance, long_plan.hasLead, gas_override=override_longitudinal))
# Steering PID loop and lateral MPC
# Reset desired curvature to current to avoid violating the limits on engage