IQ.Lvbs/IQ.Pilot
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IQ.Pilot Release Commit @ e46d557

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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
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7
tools/joystick/joystickd.py
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@@ -3,7 +3,7 @@
import math
import numpy as np
from cereal import messaging, car
from cereal import messaging, car, custom
from iqdbc.car.vehicle_model import VehicleModel
from openpilot.common.realtime import DT_CTRL, Ratekeeper
from openpilot.common.params import Params
@@ -35,6 +35,7 @@ def joystickd_thread():
params = Params()
cloudlog.info("joystickd is waiting for CarParams")
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
CP_IQ = messaging.log_from_bytes(params.get("IQCarParams", block=True), custom.IQCarParams)
VM = VehicleModel(CP)
sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'iqState', 'testJoystick'], frequency=1. / DT_CTRL)
@@ -64,7 +65,9 @@ def joystickd_thread():
CC.enabled = bool(ss.enabled or aol_enabled)
CC.latActive = bool(ss.active or joystick_angle_lat_active) and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
CC.longActive = bool(ss.enabled) and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
long_through_override = CP_IQ.longActiveWithGasOverride and CP.openpilotLongitudinalControl
override_longitudinal = any(e.overrideLongitudinal for e in sm['onroadEvents'])
CC.longActive = bool(ss.enabled) and (not override_longitudinal or long_through_override) and CP.openpilotLongitudinalControl
CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
CC.hudControl.leadDistanceBars = 2