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Suppress panda siren if in park gear (#175)

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* Suppress panda siren if in park gear

* bump panda
This commit is contained in:
Jason Wen
2023-06-21 07:33:00 -04:00
committed by GitHub
parent a9c0e59004
commit a9bcf732d0
2 changed files with 4 additions and 3 deletions
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panda
+1 -1
Submodule panda updated: dbc8ce299a...bb7d6dbdaa
selfdrive/boardd/boardd.cc
+3 -2
View File
@@ -466,7 +466,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
util::set_thread_name("boardd_panda_state");
Params params;
SubMaster sm({"controlsState"});
SubMaster sm({"controlsState", "carState"});
Panda *peripheral_panda = pandas[0];
bool is_onroad = false;
@@ -526,9 +526,10 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
sm.update(0);
const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
const bool parked = sm.allAliveAndValid({"carState"}) && (int(sm["carState"].getCarState().getGearShifter()) == 1);
for (const auto &panda : pandas) {
panda->send_heartbeat(engaged);
panda->send_heartbeat(engaged && !parked);
}
uint64_t dt = nanos_since_boot() - start_time;