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[merge] ver 26.1.6.1

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develop → feature/BehaviorCloning
This commit is contained in:
3minbe 2026-01-06 17:35:07 +09:00
parent 44fb411f5a
commit 70c67ca6dd
1 changed files with 12 additions and 6 deletions
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18
GW/src/System_Layer/Drive_Mode.c
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@ -147,18 +147,24 @@ void CheckDriveMode(void)
else else
{ {
bool isRCRequest = (GV_RC_Drive_Mode == 1); bool isRCRequest = (GV_RC_Drive_Mode == 1);
bool isACURequest = (GV_ACU_Drive_mode == 1 || GV_RC_ACU_Drive_Mode == 1); bool isACURequest = (GV_ACU_Drive_mode == 1 && GV_RC_ACU_Drive_Mode == 1);
if(isRCRequest) // RC if(isRCRequest) // RC
GV_VCU_Drive_Mode = DRIVE_MODE_RC; {
if (GV_VCU_Drive_Mode == DRIVE_MODE_DEFAULT)
GV_VCU_Drive_Mode = DRIVE_MODE_RC;
}
else if(isACURequest) else if(isACURequest)
{ {
ACU_Arc_check(); if(GV_VCU_Drive_Mode == DRIVE_MODE_DEFAULT)
{
ACU_Arc_check();
bool isACUFault = (GV_ACU_ECU_Fault_Flag == 1 || GV_ACU_ECU_Fault_Flag1 == 1 || GV_ACU_ECU_Fault_Flag2 == 1 || GV_ACU_ECU_Fault_Flag3 == 1);
bool isACUFault = (GV_ACU_ECU_Fault_Flag == 1 || GV_ACU_ECU_Fault_Flag1 == 1 || GV_ACU_ECU_Fault_Flag2 == 1 || GV_ACU_ECU_Fault_Flag3 == 1); if(!isACUFault)
GV_VCU_Drive_Mode = DRIVE_MODE_ACU;
}
if(!isACUFault)
GV_VCU_Drive_Mode = DRIVE_MODE_ACU;
} }
else else
GV_VCU_Drive_Mode = DRIVE_MODE_DEFAULT; GV_VCU_Drive_Mode = DRIVE_MODE_DEFAULT;