From a1dbcfd62be9285037e3740eb9723b2f7999e4b4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 8 Jul 2024 03:38:29 +0000
Subject: [PATCH 1/2] Revert "MADS: Honda Nidec: Fix enforce cruise cancel with
 stock PCM"

---
 selfdrive/car/honda/carstate.py  | 2 +-
 selfdrive/car/honda/interface.py | 2 +-
 selfdrive/car/interfaces.py      | 1 -
 3 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index d412f81142..ae8746d958 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -242,7 +242,7 @@ class CarState(CarStateBase):
       ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
 
     ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
-    ret.cruiseState.enabled = self.pcm_cruise_enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
+    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 1aba4d3119..457b095e6a 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -298,7 +298,7 @@ class CarInterface(CarInterfaceBase):
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:
         self.CS.accEnabled = False
-      self.CS.accEnabled = self.CS.pcm_cruise_enabled
+      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS,
                                             min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9c535244b8..a402a7797a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -778,7 +778,6 @@ class CarStateBase(ABC):
     self.mads_enabled = False
     self.prev_mads_enabled = False
     self.control_initialized = False
-    self.pcm_cruise_enabled = False
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3

From 64a34f97aa70a88a875b7f50cf20f6bcb46c467a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 8 Jul 2024 09:13:37 -0400
Subject: [PATCH 2/2] Revert "remove nav apt dependencies (#32792)"

This reverts commit 9a084a73c5c3e6386bc5f21c46062d46878f6ca2.
---
 tools/install_ubuntu_dependencies.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 4373760ce6..1fc0709095 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -55,7 +55,8 @@ function install_ubuntu_common_requirements() {
     portaudio19-dev \
     qml-module-qtquick2 \
     qtmultimedia5-dev \
-    qtdeclarative5-dev \
+    qtlocation5-dev \
+    qtpositioning5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \
     libqt5serialbus5-dev  \