November 10th, 2024 Update

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**November 8th, 2024**
+**November 10th, 2024**
 
 Features
 ------

selfdrive/car/toyota/carstate.py

@@ -216,6 +216,22 @@ def calculate_speed_limit(cp_cam, frogpilot_toggles):
   return 0
 
 
+# Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
+@staticmethod
+def calculate_speed_limit(cp_cam, frogpilot_toggles):
+  signals = ["TSGN1", "SPDVAL1", "SPLSGN1", "TSGN2", "SPLSGN2", "TSGN3", "SPLSGN3", "TSGN4", "SPLSGN4"]
+  traffic_signals = {signal: cp_cam.vl["RSA1"].get(signal, cp_cam.vl["RSA2"].get(signal)) for signal in signals}
+
+  tsgn1 = traffic_signals.get("TSGN1")
+  spdval1 = traffic_signals.get("SPDVAL1")
+
+  if tsgn1 == 1 and not frogpilot_toggles.force_mph_dashboard:
+    return spdval1 * CV.KPH_TO_MS
+  elif tsgn1 == 36 or frogpilot_toggles.force_mph_dashboard:
+    return spdval1 * CV.MPH_TO_MS
+  return 0
+
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)

selfdrive/navd/navd.py

@@ -130,6 +130,17 @@ def __init__(self, sm, pm):
     self.stop_coord = []
     self.stop_signal = []
 
+    # FrogPilot variables
+    self.frogpilot_toggles = get_frogpilot_toggles(True)
+
+    self.approaching_intersection = False
+    self.approaching_turn = False
+
+    self.nav_speed_limit = 0
+
+    self.stop_coord = []
+    self.stop_signal = []
+
   def update(self):
     self.sm.update(0)