From 4f41bfcd9e900c11a7d709c985b3a57073fb4992 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 30 Oct 2019 09:31:51 +1000
Subject: [PATCH] fix allow_gas for honda and slightly adjust lead car moving
 alert value

---
 selfdrive/car/honda/carcontroller.py | 22 +++++++++++-----------
 selfdrive/controls/controlsd.py      |  2 +-
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index e0bd669d3..93e107191 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -88,7 +88,7 @@ class CarController():
     # dragonpilot
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
-    # self.dragon_allow_gas = False
+    self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
 
   def update(self, enabled, CS, frame, actuators, \
@@ -97,7 +97,7 @@ class CarController():
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
       self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      # self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
 
     # *** apply brake hysteresis ***
@@ -190,15 +190,15 @@ class CarController():
         # DragonAllowGas
         # if we detect gas pedal pressed, we do not want OP to apply gas or brake
         # gasPressed code from interface.py
-        # if not CS.CP.enableGasInterceptor:
-        #   gas_pressed = CS.pedal_gas > 0
-        # else:
-        #   gas_pressed = CS.user_gas_pressed
-        # dragon_apply_brake = apply_brake
-        # if self.dragon_allow_gas and gas_pressed:
-        #   dragon_apply_brake = 0
-        #   apply_gas = 0
-        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+        if not CS.CP.enableGasInterceptor:
+          gas_pressed = CS.pedal_gas > 0
+        else:
+          gas_pressed = CS.user_gas_pressed
+        dragon_apply_brake = apply_brake
+        if self.dragon_allow_gas and gas_pressed:
+          dragon_apply_brake = 0
+          apply_gas = 0
+        can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
         self.apply_brake_last = apply_brake
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d748a9f15..f1b1cb66f 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -575,7 +575,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
     if dragon_lead_car_moving_alert:
       # when car has a lead and is standstill and lead is barely moving, we start counting
-      if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.2 >= abs(sm['plan'].vTarget) >= 0:
+      if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo < 0.05 and 0.3 >= abs(sm['plan'].vTarget) >= 0:
         dragon_stopped_has_lead_count += 1
       else:
         dragon_stopped_has_lead_count = 0