diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index cd2d66228c..e8094ee70d 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -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)