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opendbc_repo/opendbc/car/chrysler/values.py

@@ -97,6 +97,22 @@ class CAR(Platforms):
   )
 
 
+PACIFICA_HYBRID_AOL_CARS = frozenset({
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID,
+})
+
+
+def pacifica_hybrid_aol_stock_acc_mode(car_fingerprint, pcm_cruise: bool,
+                                       controls_enabled: bool, always_on_lateral_enabled: bool) -> bool:
+  # Keep this narrow until we have logs proving other Chrysler platforms need the same exemption.
+  return (
+    car_fingerprint in PACIFICA_HYBRID_AOL_CARS and
+    pcm_cruise and
+    always_on_lateral_enabled and
+    not controls_enabled
+  )
+
+
 class CarControllerParams:
   def __init__(self, CP):
     self.STEER_STEP = 2  # 50 Hz

opendbc_repo/opendbc/car/tests/test_platform_configs.py

@@ -1,3 +1,4 @@
+from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR, pacifica_hybrid_aol_stock_acc_mode
 from opendbc.car.values import PLATFORMS
 
 
@@ -15,3 +16,13 @@ class TestPlatformConfigs:
         assert name == platform.config.platform_str
 
         assert platform.config.specs is not None
+
+  def test_pacifica_hybrid_aol_stock_acc_mode_requires_pr_conditions(self):
+    assert pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2019_HYBRID, True, False, True)
+    assert not pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2019_HYBRID, True, True, True)
+    assert not pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2019_HYBRID, True, False, False)
+    assert not pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2019_HYBRID, False, False, True)
+
+  def test_pacifica_hybrid_aol_stock_acc_mode_stays_narrow(self):
+    assert not pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2018_HYBRID, True, False, True)
+    assert not pacifica_hybrid_aol_stock_acc_mode(CHRYSLER_CAR.CHRYSLER_PACIFICA_2020, True, False, True)

selfdrive/controls/controlsd.py

@@ -10,6 +10,7 @@ from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.chrysler.values import pacifica_hybrid_aol_stock_acc_mode
 from opendbc.car.gm.values import CAR as GM_CAR
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_lateral_active
@@ -225,7 +226,14 @@ class Controls:
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
     CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
+    pacifica_hybrid_aol = pacifica_hybrid_aol_stock_acc_mode(
+      self.CP.carFingerprint,
+      self.CP.pcmCruise,
+      CC.enabled,
+      self.sm['starpilotCarState'].alwaysOnLateralEnabled,
+    )
+    cancel_requested = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
+    CC.cruiseControl.cancel = cancel_requested and not pacifica_hybrid_aol
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
     hudControl = CC.hudControl

selfdrive/selfdrived/selfdrived.py

@@ -9,6 +9,7 @@ from cereal import car, custom, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 
+from opendbc.car.chrysler.values import pacifica_hybrid_aol_stock_acc_mode
 from opendbc.car.gm.values import GMFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
@@ -425,7 +426,13 @@ class SelfdriveD:
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
-      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      pacifica_hybrid_aol = pacifica_hybrid_aol_stock_acc_mode(
+        self.CP.carFingerprint,
+        self.CP.pcmCruise,
+        self.enabled,
+        self.sm['starpilotCarState'].alwaysOnLateralEnabled,
+      )
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) and not pacifica_hybrid_aol
       self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)