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fix mads button not allowed

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This commit is contained in:
Jason Wen
2024-12-18 10:21:23 -05:00
parent 3663cb469f
commit 9bf6fdaf41
1 changed files with 3 additions and 2 deletions
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sunnypilot/mads/mads.py
+3 -2
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@@ -37,6 +37,7 @@ ButtonType = car.CarState.ButtonEvent.Type
EventName = log.OnroadEvent.EventName
SafetyModel = car.CarParams.SafetyModel
SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -138,8 +139,6 @@ class ModularAssistiveDrivingSystem:
self.events.add(EventName.lkasDisable)
else:
self.events.add(EventName.lkasEnable)
if be.type not in (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise):
self.events.remove(EventName.wrongCarMode)
if not CS.cruiseState.available:
self.events.remove(EventName.buttonEnable)
@@ -150,6 +149,8 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.buttonCancel)
self.events.remove(EventName.pedalPressed)
self.events.remove(EventName.wrongCruiseMode)
if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
self.events.remove(EventName.wrongCarMode)
self.update_controls_mismatch(sm)