From 2adfd5f19301436f1f09df522b8169ec3111aae9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 26 Nov 2024 12:43:30 -0500 Subject: [PATCH] Revert "allow in all" This reverts commit 6375f1489176dc6c69cb7fa388676e482713f80a. --- sunnypilot/mads/mads.py | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index c407f5a9a7..672b4c1a77 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -44,7 +44,7 @@ class ModularAssistiveDrivingSystem: if self.state_machine.state != State.paused: self.events.add(EventName.silentLkasDisable) - if not self.selfdrive.enabled: + if not self.selfdrive.enabled and self.enabled: if self.events.has(EventName.wrongGear): self.events.replace(EventName.wrongGear, EventName.silentWrongGear) transition_paused_state() @@ -61,15 +61,14 @@ class ModularAssistiveDrivingSystem: self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched) transition_paused_state() - if self.enabled: - if self.disengage_lateral_on_brake_toggle: - if self.events.has(EventName.pedalPressed): - transition_paused_state() + if self.disengage_lateral_on_brake_toggle: + if self.events.has(EventName.pedalPressed): + transition_paused_state() - if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed)) and \ - not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT): - if self.state_machine.state == State.paused: - self.events.add(EventName.silentLkasEnable) + if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed)) and \ + not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT): + if self.state_machine.state == State.paused: + self.events.add(EventName.silentLkasEnable) if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable): update_unified_engagement_mode()