Keep Mach-E native LONG withdrawal separate from manual steering

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -1777,9 +1777,10 @@ class SelfdriveD:
         proof[5] != companion.integrity_epoch or not ((intent.allowedLatch and intent.lateralArmed) or ordinary_ford) or
         not native.requestedLateral or not native.lateralAllowed or
         not native.requestedLongitudinal or native.longitudinalAllowed or not native.pandaInventory or
-        CS.brakePressed or CS.regenBraking or CS.gasPressed or CS.steeringPressed or
+        CS.brakePressed or CS.regenBraking or CS.gasPressed or CS.steeringPressed and not ordinary_ford or
         any(self.events.contains(kind) for kind in (ET.IMMEDIATE_DISABLE, ET.SOFT_DISABLE, ET.USER_DISABLE,
-                                                  ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL))):
+                                                  ET.OVERRIDE_LONGITUDINAL)) or
+        not ordinary_ford and self.events.contains(ET.OVERRIDE_LATERAL)):
       return False
     def identity(state):
       return (state.axisSessionId, state.pandaSerial, state.safetyModel, state.safetyParam,

openpilot/starpilot/aol/tests/test_ford_ordinary_long_withdrawal.py

@@ -33,9 +33,11 @@ def caller():
 
 
 @pytest.mark.parametrize('pedal', ['gas', 'brake'])
-def test_ordinary_pedal_edge_withdraws_long_without_inventing_aol_latch(caller, pedal):
+@pytest.mark.parametrize('steering', [False, True])
+def test_ordinary_pedal_edge_withdraws_long_without_inventing_aol_latch(caller, pedal, steering):
   sd, cs, drive = caller
-  kwargs = {'native_request_lat': True, 'allowed': True, 'native_request_long': True, 'long_allowed': False, 'panda_controls_allowed': pedal == 'gas'}
+  kwargs = {'native_request_lat': True, 'allowed': True, 'native_request_long': True, 'long_allowed': False,
+            'steering': steering, 'panda_controls_allowed': pedal == 'gas'}
   a, s, c = drive(10, **kwargs)
   assert not a.longitudinalActive and not c.longActive
   assert a.lateralActive and c.latActive and s.enabled
@@ -51,16 +53,17 @@ def test_ordinary_pedal_edge_withdraws_long_without_inventing_aol_latch(caller,
     assert not s.enabled and not s.active and not a.lateralActive and not c.latActive
     # Releasing brake alone must not rearm ordinary ACC or independent LAT.
     cs.brakePressed = False
-    a, s, c = drive(12)
+    a, s, c = drive(12, steering=steering)
     assert not s.enabled and not a.lateralActive and not a.longitudinalActive and not c.latActive and not c.longActive
   else:
     assert s.enabled and a.lateralActive and c.latActive
 
 
 @pytest.mark.parametrize('fault', ['lat_denied', 'native_invalid', 'rx_fault', 'relay_fault', 'prior_expired', 'prior_absent', 'proof_absent'])
-def test_faults_and_missing_original_proof_remain_immediate(caller, fault):
+@pytest.mark.parametrize('steering', [False, True])
+def test_faults_and_missing_original_proof_remain_immediate(caller, fault, steering):
   sd, cs, drive = caller
-  kw = {'native_request_lat': True, 'allowed': True, 'native_request_long': True, 'long_allowed': False, 'panda_controls_allowed': False}
+  kw = {'native_request_lat': True, 'allowed': True, 'native_request_long': True, 'long_allowed': False, 'steering': steering, 'panda_controls_allowed': False}
   if fault == 'lat_denied':
     kw['allowed'] = False
   elif fault == 'native_invalid':
@@ -83,10 +86,11 @@ def test_faults_and_missing_original_proof_remain_immediate(caller, fault):
   assert log.OnroadEvent.EventName.controlsMismatch in sd.events.names
 
 
-def test_persistent_native_long_denial_keeps_original_mismatch_owner(caller):
+@pytest.mark.parametrize('steering', [False, True])
+def test_persistent_native_long_denial_keeps_original_mismatch_owner(caller, steering):
   sd, cs, drive = caller
   for tick in range(10, 230):
-    a, s, c = drive(tick, native_request_lat=True, allowed=True, native_request_long=True, long_allowed=False, panda_controls_allowed=False)
+    a, s, c = drive(tick, native_request_lat=True, allowed=True, native_request_long=True, long_allowed=False, panda_controls_allowed=False, steering=steering)
     assert not a.longitudinalActive and not c.longActive
     if log.OnroadEvent.EventName.controlsMismatch in sd.events.names:
       break

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "2c7ad6865477b3c48cd53996b2a5e48fd9cd574ab56986fa1085a9247e158524", "schema_version": 1}
+{"protected_inventory_sha256": "c2cb35e4cc4b850825f002c3d16def1f3c20dfdf818e154e448fb85558c08a2b", "schema_version": 1}