Prathamesh Joshi
/
EDiffMain
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Diff: algo.cpp
- Revision:
- 4:66b2a94a607f
- Parent:
- 3:68d91895d991
- Child:
- 5:ee37889edcab
--- a/algo.cpp Fri Mar 08 18:58:02 2013 +0000
+++ b/algo.cpp Fri Mar 08 21:54:08 2013 +0000
@@ -52,6 +52,7 @@
if (brake > 10 && throttle > 1.5) // What is max input when brake is NOT actuated???
{
flag_throttle_brake_plausibility = true;
+ FMEALowByte |= 0x10; //0001 0000
throttle_Left = 0;
throttle_Right = 0;
return;
@@ -68,10 +69,11 @@
else
{
flag_throttle_brake_plausibility = false;
+ FMEALowByte &= 0xEF; //1110 1111
}
}
- if (Dash) //Till driver reads Dash message and takes necessary action - openloop/use_Bosch_steering,do soft shutdown - throttle out = 0
+ if (((flagsFromICAP & 0x78) && !openloop_driver) || (useBoschSteeringRequest)) //Till driver reads Dash message and takes necessary action - openloop/use_Bosch_steering,do soft shutdown - throttle out = 0
{
throttle_Left = 0;
throttle_Right = 0;