Keep Ford AOL through Cancel during accelerator override

openpilot/starpilot/aol/transport_pause.py

@@ -357,7 +357,8 @@ class TransportPauseFeedback:
     from opendbc.car.ford.values import CAR
     # Before 10Hz LONG echo: physical pedal/cancel retains only real independent LAT intent.
     ford_withdrawal = bool(cp.brand == 'ford' and ford_qualified(cp, marked_only=True) and cp.openpilotLongitudinalControl and
-      (cs.brakePressed or not cs.cruiseState.enabled or physical_cancel(cs, cp)) and not cs.gasPressed and not cs.regenBraking and
+      (cs.brakePressed or not cs.cruiseState.enabled or physical_cancel(cs, cp) or
+       not axis.desiredLongitudinal and not axis.longitudinalActive) and not (cs.brakePressed and cs.gasPressed) and not cs.regenBraking and
       cs.cruiseState.available and not cs.doorOpen and not cs.seatbeltUnlatched and
       not cs.vehicleSensorsInvalid and cs.gearShifter == structs.CarState.GearShifter.drive)
     # Mach-E angle/curvature share native independent axes: intent-only 10Hz LONG withdrawal/recovery echo join.

openpilot/starpilot/tests/ford_lifecycle_helpers.py

@@ -777,18 +777,32 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag
         joined.route45_trace = route45_trace
         return
       if scenario in ('cancel-native-cadence', 'neutral-main-cadence'):
+        cancel_gas = 'gas' if getattr(monkeypatch, 'ford_cancel_gas', False) else None
         for _ in range(41):
           state, axis, sd_state, command = step(engaged=True)
         assert command.latActive and host.aol_card_intent.allowed_latch
+        if cancel_gas:
+          # Settle gas on a real 10Hz receipt before testing the later Cancel.
+          while steps % 10 != 9:
+            state, axis, sd_state, command = step(engaged=True)
+          for gas_tick in range(25):
+            state, axis, sd_state, command = step(engaged=True, fault=cancel_gas)
+            assert host.aol_card_intent.allowed_latch and command.latActive
+            if gas_tick >= 2:
+              assert not command.longActive
         for _ in range(12):
-          state, axis, sd_state, command = step(engaged=True, cancel=True)
+          state, axis, sd_state, command = step(engaged=True, cancel=True, fault=cancel_gas)
           assert host.aol_card_intent.allowed_latch, (host.aol_card_intent.latch_clear_reason, transition_trace[-12:])
           assert command.latActive
           if not joined.last_permission & 2:
             assert not command.longActive
         for _ in range(35):
-          state, axis, sd_state, command = step()
+          state, axis, sd_state, command = step(fault=cancel_gas)
           assert host.aol_card_intent.allowed_latch and command.latActive and not command.longActive, transition_trace[-12:]
+        if cancel_gas:
+          for _ in range(15):
+            state, axis, sd_state, command = step()
+            assert host.aol_card_intent.allowed_latch and command.latActive and not command.longActive
         for _ in range(30):
           state, axis, sd_state, command = step(main_off=True)
         assert not host.aol_card_intent.allowed_latch and not command.latActive and not command.longActive

openpilot/starpilot/tests/test_ford_configuration_parity.py

@@ -137,3 +137,14 @@ def test_gas_first_engagement_native_cadence(ford_joined, monkeypatch, angle):
 def test_first_main_gas_native_cadence(ford_joined, monkeypatch, angle):
   monkeypatch.ford_main_off_warmup = True
   run_actual_producer(ford_joined, monkeypatch, scenario='route22')
+
+
+@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]])
+@pytest.mark.parametrize('alpha', [True])
+@pytest.mark.parametrize('hands_free', [False, True])
+@pytest.mark.parametrize('angle', [False, True])
+@pytest.mark.parametrize('topology', ['automatic', 'manual-multi'])
+def test_cancel_retains_lateral_with_native_first_feedback_while_gas_held(ford_joined, monkeypatch, angle, topology):
+  monkeypatch.ford_native_10hz = True
+  monkeypatch.ford_cancel_gas = True
+  run_actual_producer(ford_joined, monkeypatch, scenario='cancel-native-cadence')

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "fd87cd5ed34840cfecffedb8d655b20ed2e800516419170e4684ee8dbef761cb", "schema_version": 1}
+{"protected_inventory_sha256": "f5d223b542ea53e06d33ae95394033d6a648ac123ae3aca3c7c84bc46b171439", "schema_version": 1}