engage_delay = 5
last_bad_time = -engage_delay
curvature = value / v3
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return curvature
else
return 0
end
/liveLocationKalman/angularVelocityCalibrated/value/2
/carState/steeringPressed
/carControl/enabled
/liveLocationKalman/velocityCalibrated/value/0
engage_delay = 5
last_bad_time = -engage_delay
curvature = value
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end
/controlsState/curvature
/carState/steeringPressed
/carControl/enabled
engage_delay = 5
last_bad_time = -engage_delay
curvature = value
pressed = v1
enabled = v2
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end
/lateralPlan/curvatures/0
/carState/steeringPressed
/carControl/enabled
engage_delay = 5
last_bad_time = -engage_delay
accel = value
brake = v1
gas = v2
enabled = v3
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end
/carState/aEgo
/carState/brakePressed
/carState/gasPressed
/carControl/enabled
engage_delay = 5
last_bad_time = -engage_delay
accel = value
brake = v1
gas = v2
enabled = v3
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end
/longitudinalPlan/accels/0
/carState/brakePressed
/carState/gasPressed
/carControl/enabled
engage_delay = 5
last_bad_time = -engage_delay
accel = value
brake = v1
gas = v2
enabled = v3
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end
if (time > last_bad_time + engage_delay) then
return value
else
return 0
end
/carControl/actuators/accel
/carState/brakePressed
/carState/gasPressed
/carControl/enabled