From 3fc2f70eb80b0bdfaa15c5f4fe2e8d1fa5d8a9b1 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 18 Jan 2025 16:34:32 -0500 Subject: [PATCH 1/2] nuke them all to test --- selfdrive/car/car_specific.py | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index cd2d66228c..e8094ee70d 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -71,18 +71,18 @@ class CarSpecificEvents: if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) - if self.CP.pcmCruise: - # we engage when pcm is active (rising edge) - if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: - events.add(EventName.pcmEnable) - elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): - # it can happen that car cruise disables while comma system is enabled: need to - # keep braking if needed or if the speed is very low - if CS.vEgo < self.CP.minEnableSpeed + 2.: - # non loud alert if cruise disables below 25mph as expected (+ a little margin) - events.add(EventName.speedTooLow) - else: - events.add(EventName.cruiseDisabled) + # if self.CP.pcmCruise: + # # we engage when pcm is active (rising edge) + # if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: + # events.add(EventName.pcmEnable) + # elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): + # # it can happen that car cruise disables while comma system is enabled: need to + # # keep braking if needed or if the speed is very low + # if CS.vEgo < self.CP.minEnableSpeed + 2.: + # # non loud alert if cruise disables below 25mph as expected (+ a little margin) + # events.add(EventName.speedTooLow) + # else: + # events.add(EventName.cruiseDisabled) if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001: events.add(EventName.manualRestart) From 25d195df7218639533199da7da8e520bbaa9d855 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 18 Jan 2025 16:35:27 -0500 Subject: [PATCH 2/2] try this --- sunnypilot/mads/mads.py | 1 - 1 file changed, 1 deletion(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index c7fafe8cf5..85d71d0428 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -124,7 +124,6 @@ class ModularAssistiveDrivingSystem: self.events.add(EventName.silentLkasEnable) self.events.remove(EventName.preEnableStandstill) - elif not self.selfdrive.enabled: self.events.remove(EventName.belowEngageSpeed) self.events.remove(EventName.speedTooLow) self.events.remove(EventName.cruiseDisabled)