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Merge branch 'mads-honda-states' into master-dev-c3-new

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This commit is contained in:
Jason Wen
2025-01-18 20:41:18 -05:00
parent a93dc0047d 9eb36a0b7e
commit 2525fdc350
2 changed files with 13 additions and 13 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: a4444e5989...b4b0a180c8
selfdrive/car/car_specific.py
+12 -12
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@@ -71,18 +71,18 @@ class CarSpecificEvents:
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
# if self.CP.pcmCruise:
# # we engage when pcm is active (rising edge)
# if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
# events.add(EventName.pcmEnable)
# elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# # it can happen that car cruise disables while comma system is enabled: need to
# # keep braking if needed or if the speed is very low
# if CS.vEgo < self.CP.minEnableSpeed + 2.:
# # non loud alert if cruise disables below 25mph as expected (+ a little margin)
# events.add(EventName.speedTooLow)
# else:
# events.add(EventName.cruiseDisabled)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if CS.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
events.add(EventName.manualRestart)