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boardd: handle false positive ignitions on red panda setups (#29126)

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This commit is contained in:
Adeeb Shihadeh
2023-07-24 16:47:19 -07:00
committed by GitHub
parent 4cb8da91d7
commit dc25e7c3e3
1 changed files with 11 additions and 0 deletions
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selfdrive/boardd/boardd.cc
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@@ -301,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
pandaCanStates.reserve(pandas_cnt);
const bool red_panda_comma_three = (pandas.size() == 2) &&
(pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
(pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
for (const auto& panda : pandas){
auto health_opt = panda->get_state();
if (!health_opt) {
@@ -323,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
health.ignition_line_pkt = 1;
}
// on comma three setups with a red panda, the dos can
// get false positive ignitions due to the harness box
// without a harness connector, so ignore it
if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
health.ignition_line_pkt = 0;
}
ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
pandaStates.push_back(health);