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fix carcontroller.py

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This commit is contained in:
jakethesake420
2024-09-25 08:48:20 -05:00
committed by MoreTore
parent 3bb58db8ce
commit c9e1edd2c9
1 changed files with 18 additions and 18 deletions
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selfdrive/car/mazda/carcontroller.py
+18 -18
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@@ -40,27 +40,27 @@ class CarController(CarControllerBase):
ti_new_steer = int(round(CC.actuators.steer * self.ccp.TI_STEER_MAX))
ti_apply_steer = apply_ti_steer_torque_limits(ti_new_steer, self.ti_apply_steer_last,
CS.out.steeringTorque, self.ccp)
if CC.cruiseControl.cancel:
# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
# a race condition with the stock system, where the second cancel from openpilot
# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
# read 3 messages and most likely sync state before we attempt cancel.
self.brake_counter = self.brake_counter + 1
if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
if CC.cruiseControl.resume and self.frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
self.apply_steer_last = apply_steer
self.ti_apply_steer_last = ti_apply_steer
if self.CP.flags & MazdaFlags.GEN1:
if CC.cruiseControl.cancel:
# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
# a race condition with the stock system, where the second cancel from openpilot
# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
# read 3 messages and most likely sync state before we attempt cancel.
self.brake_counter = self.brake_counter + 1
if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
if CC.cruiseControl.resume and self.frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
# send HUD alerts
if self.frame % 50 == 0:
ldw = CC.hudControl.visualAlert == VisualAlert.ldw