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Only trigger model FCW on stock long when not already braking (#22620)

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* Only trigger model FCW on stock long when not already braking

* Split model_fcw checks for better readability
old-commit-hash: 38f775edfc
This commit is contained in:
Mitchell Goff
2021-10-20 07:16:40 -07:00
committed by GitHub
parent 5b5269cb06
commit 3e3b875111
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/controlsd.py
+3 -1
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@@ -282,8 +282,10 @@ class Controls:
for pandaState in self.sm['pandaStates']:
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed
if planner_fcw or model_fcw:
self.events.add(EventName.fcw)