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Mazda: Custom Stock Longitudinal Control: calculate counters manually

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This commit is contained in:
Jason Wen
2023-10-03 21:38:52 +00:00
parent 8d993284b3
commit 98dbd39209
1 changed files with 3 additions and 2 deletions
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selfdrive/car/mazda/carcontroller.py
+3 -2
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@@ -110,10 +110,11 @@ class CarController:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed and self.frame % 10 == 0:
elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
if self.cruise_button is not None:
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, self.cruise_button))
if self.frame % 10 == 0:
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, self.frame // 10, self.cruise_button))
self.apply_steer_last = apply_steer