diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b2c6886fd..30e5f1b05 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -521,10 +521,11 @@ class CarController(CarControllerBase): can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) # TODO: integrate this with the code block below? + stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF if ( (self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active - ) and CS.out.cruiseState.enabled: + ) and stock_cc_active: if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC: # Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum. if self.malibu_cancel_frame % 3 == 0: