From 831c177a2e4080d06277cc202ac3bcf1a3d99bff Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Wed, 25 Sep 2024 08:48:20 -0500 Subject: [PATCH] openpilot long = True --- selfdrive/car/mazda/carstate.py | 6 +++--- selfdrive/car/mazda/interface.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 541437ea0..41071a532 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase -from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, TI_STATE, CAR, CarControllerParams +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, TI_STATE, CarControllerParams class CarState(CarStateBase): def __init__(self, CP): @@ -190,11 +190,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = False # TODO locate signal. Car shows light on dash if there is a fault ret.steerFaultTemporary = False # TODO locate signal. Car shows light on dash if there is a fault - ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion == 0.0 + ret.standstill = cp_cam.vl["SPEED"]["SPEED"] * unit_conversion < 0.1 ret.cruiseState.speed = cp.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion ret.cruiseState.enabled = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2) ret.cruiseState.available = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] != 0) - ret.cruiseState.standstill = False + ret.cruiseState.standstill = ret.standstill self.cp = cp self.cp_cam = cp_cam diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index fa3fb61d9..539904143 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase): ret.radarUnavailable = True ret.dashcamOnly = False - ret.openpilotLongitudinalControl = experimental_long + ret.openpilotLongitudinalControl = True if candidate in GEN1: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_GEN1 p = Params()