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MADS: Honda: Fix PCM ACC disengage fault (#363)

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* MADS: Honda: Fix PCM ACC disengage fault

* try this out

* honda only
This commit is contained in:
Jason Wen
2024-08-02 07:41:20 -08:00
committed by GitHub
parent 61f7690265
commit 09d1604b84
3 changed files with 17 additions and 11 deletions
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selfdrive/car/honda/interface.py
+12 -7
View File
@@ -282,21 +282,26 @@ class CarInterface(CarInterfaceBase):
else:
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
min_enable_speed_pcm = self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed
if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
else False if self.CP.pcmCruise \
else self.CS.accEnabled
if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
if min_enable_speed_pcm:
if ret.gasPressed and not ret.cruiseState.enabled:
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
self.CS.accEnabled = True
elif not ret.cruiseState.enabled:
self.CS.accEnabled = False
ret, self.CS = self.get_sp_common_state(ret, self.CS,
min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
gap_button=(self.CS.cruise_setting == 3))
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/interfaces.py
+2 -3
View File
@@ -615,9 +615,8 @@ class CarInterfaceBase(ABC):
else:
return CS.madsEnabled
def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
cs_out.cruiseState.enabled
def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
if not self.enable_mads:
if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
selfdrive/controls/controlsd.py
+3 -1
View File
@@ -739,7 +739,9 @@ class Controls:
CC.angularVelocity = angular_rate_value
CC.cruiseControl.override = self.enabled_long and not CC.longActive and self.CP.openpilotLongitudinalControl
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)))
CC.cruiseControl.cancel = CS.cruiseState.enabled and \
(not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or
(any(b.type == ButtonType.cancel for b in CS.buttonEvents) and self.CP.carName == "honda"))
if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True