Feature Minimum Steer Offset adjust, and enable for white panda eps interceptor

j-vanetten / openpilot

jvePilot: FCA: Hybrid OpenPilot/ACC

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Feature Minimum Steer Offset adjust, and enable for white panda eps interceptor #10

Closed mogorman closed 3 years ago

mogorman commented 3 years ago

This branch adds support for adjusting minimum steering by applying an offset to the value.

This branch also adds support for taking advantage of a white panda to intercept messages being sent. It enables the car to steer to 0mph removing the 9mph and 39mph lockouts.

j-vanetten commented 3 years ago

I'm having 2nd thoughts about exposing enableWhitePandaSteer in the UI. I worry that average joe is going to enable this and basically disable the (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) safety check without knowing what they are doing.

Is there a way to detect the white panda? So only disable this check if enableWhitePandaSteer is true and the white panda is detected?
How about putting this in opEdit as modders are savvy enough to use opEdit.
Thoughts?

j-vanetten commented 3 years ago

@mogorman I decided your first approach of a single on/off setting is the way to go. However, I want to put it in opEdit. I'm going to close this PR as I've made a new one here: https://github.com/j-vanetten/openpilot/pull/11

If you give this branch a test and works, I'm happy with this implementation.