From 56742acbd4dc8f68f7e7562f8c203f373be372dc Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Mon, 21 Oct 2019 11:18:17 +1000
Subject: [PATCH] remove gas/brake value modification when allow_gas is enabled

---
 selfdrive/car/honda/carcontroller.py  | 22 +++++++++++-----------
 selfdrive/car/toyota/carcontroller.py | 20 ++++++++++----------
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 59ae644ce..ed68fa7ce 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:
-          gasPressed = CS.pedal_gas > 0
-        else:
-          gasPressed = CS.user_gas_pressed
-        dragon_apply_brake = apply_brake
-        if self.dragon_allow_gas and gasPressed:
-          dragon_apply_brake = 0
-          apply_gas = 0
-        can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
+        # if not CS.CP.enableGasInterceptor:
+        #   gasPressed = CS.pedal_gas > 0
+        # else:
+        #   gasPressed = CS.user_gas_pressed
+        # dragon_apply_brake = apply_brake
+        # if self.dragon_allow_gas and gasPressed:
+        #   dragon_apply_brake = 0
+        #   apply_gas = 0
+        can_sends.append(hondacan.create_brake_command(self.packer, 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/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b11b719db..8a09cbbcc 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -120,7 +120,7 @@ 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
     self.dragon_lane_departure_warning = True
 
@@ -130,7 +130,7 @@ 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
       self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
 
@@ -247,15 +247,15 @@ 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 CS.CP.enableGasInterceptor:
-      # use interceptor values to disengage on pedal press
-      gasPressed = CS.pedal_gas > 15
-    else:
-      gasPressed = CS.pedal_gas > 0
+    # if CS.CP.enableGasInterceptor:
+    #   # use interceptor values to disengage on pedal press
+    #   gasPressed = CS.pedal_gas > 15
+    # else:
+    #   gasPressed = CS.pedal_gas > 0
 
-    if self.dragon_allow_gas and gasPressed:
-      apply_accel = 0
-      apply_gas = 0
+    # if self.dragon_allow_gas and gasPressed:
+    #   apply_accel = 0
+    #   apply_gas = 0
 
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):