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IQ.Pilot Release Commit @ d2ce8a8

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IQ.Lvbs CI [bot]
2026-08-28 08:35:52 -05:00
parent 9206164707
commit ee1dca77c7
210 changed files with 19726 additions and 455 deletions
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iqpilot/selfdrive/controls/controlsd.py
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@@ -24,6 +24,7 @@ from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
from iqpilot.selfdrive.controls.lib.longcontrol import LongControl
from iqpilot.selfdrive.controls.steering_fault_recovery import SteeringFaultRecovery
from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -73,6 +74,7 @@ class Controls(IQControlsLayer):
self.pm = messaging.PubMaster(['carControl', 'controlsState', 'iqPerfTrace'] + self.iq_pub_services)
self.steer_limited_by_safety = False
self.steering_fault_recovery = SteeringFaultRecovery()
self.curvature = 0.0
self.desired_curvature = 0.0
self.roll_compensation = 0.0
@@ -208,7 +210,8 @@ class Controls(IQControlsLayer):
# Get which state to use for active lateral control
_lat_active = self.iq_lateral_allowed(self.sm)
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
steering_fault_recovered = self.steering_fault_recovery.update(CS.steerFaultTemporary, CS.steerFaultPermanent)
CC.latActive = _lat_active and steering_fault_recovered 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'])