From 2efe78a4ef16aab116a26a673f7764f421d686d4 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 20 Sep 2025 17:48:13 -0400 Subject: [PATCH] ICBM: allow button commands at all speeds (#1271) * ICBM: allow button commands at all speeds * use openpilot state --- .../car/intelligent_cruise_button_management/controller.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py index 468e6f55b..1f491e0f5 100644 --- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py +++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py @@ -108,9 +108,7 @@ class IntelligentCruiseButtonManagement: def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None: update_manual_button_timers(CS, self.cruise_button_timers) - allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD - ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \ - not CC.cruiseControl.resume + ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers) self.is_ready = ready and not button_pressed