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fix

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This commit is contained in:
Jason Wen
2024-11-15 16:09:50 -05:00
parent 60d6e7efce
commit 64a4d38d32
1 changed files with 4 additions and 5 deletions
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sunnypilot/mads/mads.py
+4 -5
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@@ -65,7 +65,7 @@ class ModularAssistiveDrivingSystem:
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
if self.selfdrive.enabled_prev:
if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualLongitudinalRequired)
if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
if self.active:
@@ -76,12 +76,11 @@ class ModularAssistiveDrivingSystem:
else:
self.selfdrive.events.add(EventName.lkasEnable)
if CS.cruiseState.available:
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
elif self.selfdrive.CS_prev.cruiseState.available:
if not CS.cruiseState.available and self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasDisable)
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
self.selfdrive.events.remove(EventName.pedalPressed)
def update(self, CS: car.CarState):