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Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral (#465)

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The wheel-touch override that fakes HandsOn=1 to suppress the ACM's
"hold the wheel" warning was gated on CC.enabled, which is False
when the user runs MADS lateral without ACC. In that mode the ACM
sees the real (intermittent) SCCM_WheelTouch signal and escalates
to the loud red-message warning even though openpilot is steering.

Gate on self.mads.lat_active instead so the override fires whenever
openpilot is doing lateral control, including MADS-only mode.

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Lukas Heintz
2026-05-09 23:59:18 +02:00
committed by GitHub
parent 57b531acd3
commit 4dad7b09dd
1 changed files with 1 additions and 1 deletions
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2
opendbc/car/rivian/carcontroller.py
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@@ -36,7 +36,7 @@ class CarController(CarControllerBase, MadsCarController):
can_sends.append(create_lka_steering(self.packer, self.frame, CS.acm_lka_hba_cmd, apply_torque, CC.enabled, CC.latActive, self.mads))
if self.frame % 5 == 0 and not (self.CP.flags & RivianFlags.GEN2):
can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled))
can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, self.mads.lat_active))
# Longitudinal control
if self.CP.openpilotLongitudinalControl: