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DM: fix upstream merge overwrite with latActive check (#1594)

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* Update enabled condition to include latActive

* Todo-sp
This commit is contained in:
Jason Wen
2025-12-20 15:20:24 -05:00
committed by GitHub
parent 5bf2ac1657
commit 452aa67581
1 changed files with 2 additions and 1 deletions
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selfdrive/monitoring/helpers.py
+2 -1
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@@ -449,7 +449,8 @@ class DriverMonitoring:
rpyCalib = [0., 0., 0.]
else:
highway_speed = sm['carState'].vEgo
enabled = sm['selfdriveState'].enabled
# TODO-SP: unit test to assert both control checks are always present
enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
standstill = sm['carState'].standstill
driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed