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MADS: Fix extra gear check

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This commit is contained in:
Jason Wen
2024-07-11 15:46:24 +00:00
parent 606fb2d7c9
commit c1cd33dbc1
1 changed files with 3 additions and 2 deletions
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selfdrive/car/interfaces.py
+3 -2
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@@ -460,8 +460,9 @@ class CarInterfaceBase(ABC):
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears and not \
(cs_out.gearShifter == GearShifter.unknown and self.gear_warning < int(0.5/DT_CTRL)):
if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
cs_out.gearShifter not in extra_gears) and not (cs_out.gearShifter == GearShifter.unknown and
self.gear_warning < int(0.5/DT_CTRL)):
if cs_out.vEgo < 5:
events.add(EventName.silentWrongGear)
else: