From 3aa9ddd3c76406796240494b8638c6bcee6441b7 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 18 May 2025 10:02:50 -0400 Subject: [PATCH] Revert "MADS: `wrongCarMode` alert only with selfdrive enable (#931)" (#932) This reverts commit 6d516a7704410b69a2707dfcb856eba5be519f81. --- sunnypilot/mads/mads.py | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index d5ce9354c..456be0188 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -81,13 +81,6 @@ class ModularAssistiveDrivingSystem: return False - def get_wrong_car_mode(self, alert_only: bool) -> None: - if alert_only: - if self.events.has(EventName.wrongCarMode): - self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) - else: - self.events.remove(EventName.wrongCarMode) - def transition_paused_state(self): if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) @@ -128,12 +121,11 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.manualRestart) selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable) - set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents) - - # wrongCarMode alert only or actively block control - self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable) if selfdrive_enable_events: + if self.pedal_pressed_non_gas_pressed(CS): + self.events_sp.add(EventNameSP.pedalPressedAlertOnly) + if self.block_unified_engagement_mode(): self.events.remove(EventName.pcmEnable) self.events.remove(EventName.buttonEnable) @@ -168,6 +160,11 @@ class ModularAssistiveDrivingSystem: self.events.remove(EventName.buttonCancel) self.events.remove(EventName.pedalPressed) self.events.remove(EventName.wrongCruiseMode) + if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents): + if self.events.has(EventName.wrongCarMode): + self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly) + else: + self.events.remove(EventName.wrongCarMode) def update(self, CS: structs.CarState): if not self.enabled_toggle: