joystick: add cancel logic (#33950)

match cancel logic
2026-07-20 16:52:10 +08:00 · 2024-11-06 19:46:05 -06:00
parent aed8e5cbd5
commit 1965b2fd6e
1 changed files with 1 additions and 0 deletions
@@ -31,6 +31,7 @@ def joystickd_thread():
    CC.enabled = sm['selfdriveState'].enabled
    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
    CC.hudControl.leadDistanceBars = 2

    actuators = CC.actuators