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MADS: Toyota: handle pedal disengage (#244)

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This commit is contained in:
Jason Wen
2023-09-04 19:29:11 -04:00
committed by GitHub
parent e362198880
commit 3d87d88dc6
1 changed files with 5 additions and 0 deletions
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selfdrive/car/toyota/interface.py
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@@ -338,6 +338,11 @@ class CarInterface(CarInterfaceBase):
else:
self.CS.madsEnabled = False
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if not self.CP.pcmCruise:
ret.cruiseState.enabled = self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.gap_dist_button))
# CANCEL