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make sure we don't allow if brake was already being pressed

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This commit is contained in:
Jason Wen
2025-05-18 10:13:56 -04:00
parent 0a65882776
commit b14e9e58a1
1 changed files with 7 additions and 1 deletions
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sunnypilot/mads/mads.py
+7 -1
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@@ -166,7 +166,13 @@ class ModularAssistiveDrivingSystem:
if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
if self.pedal_pressed_non_gas_pressed(CS):
self.events_sp.add(EventNameSP.lkasDisable)
if self.enabled:
self.events_sp.add(EventNameSP.lkasDisable)
else:
# block lkasEnable if being sent, then send pedalPressedAlertOnly event
if self.events_sp.contains(EventNameSP.lkasEnable):
self.events_sp.remove(EventNameSP.lkasEnable)
self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
if self.should_silent_lkas_enable(CS):
if self.state_machine.state == State.paused: