mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-11-03 07:42:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

enforce main

Browse Source
This commit is contained in:
Jason Wen
2024-11-14 23:34:02 -05:00
parent e1b2b10638
commit a13e5816bb
1 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/mads/mads.py
+7 -6
View File
@@ -61,12 +61,8 @@ class ModifiedAssistDrivingSystem:
if CS.cruiseState.available or self.allowed_always:
if self.main_enabled_toggle:
if self.selfdrive.CP.pcmCruise:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
else:
if any(be.type == ButtonType.mainCruise and not be.pressed for be in CS.buttonEvents):
self.selfdrive.events.add(EventName.lkasEnable)
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
@@ -81,9 +77,14 @@ class ModifiedAssistDrivingSystem:
else:
if not self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.lkasEnable)
if be.type == ButtonType.mainCruise and be.pressed and not self.selfdrive.CP.pcmCruise:
if self.active:
self.selfdrive.events.add(EventName.lkasDisable)
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
else:
self.selfdrive.events.add(EventName.lkasDisable)
self.selfdrive.events.remove(EventName.pedalPressed)