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MADS: Honda Nidec: Fix enforce cruise cancel with stock PCM

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This commit is contained in:
Jason Wen
2023-12-16 07:29:49 +00:00
parent 2ae85e71e7
commit c313af5cd0
3 changed files with 3 additions and 2 deletions
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2
selfdrive/car/honda/carstate.py
View File

@@ -238,7 +238,7 @@ class CarState(CarStateBase):
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.enabled = self.pcm_cruise_enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models

2
selfdrive/car/honda/interface.py
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@@ -380,7 +380,7 @@ class CarInterface(CarInterfaceBase):
if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
if ret.gasPressed and not ret.cruiseState.enabled:
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
self.CS.accEnabled = self.CS.pcm_cruise_enabled
ret, self.CS = self.get_sp_common_state(ret, self.CS,
min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),

1
selfdrive/car/interfaces.py
View File

@@ -757,6 +757,7 @@ class CarStateBase(ABC):
self.mads_enabled = False
self.prev_mads_enabled = False
self.control_initialized = False
self.pcm_cruise_enabled = False
self.gap_dist_button = 0
self.gac_tr = int(self.param_s.get("LongitudinalPersonality"))
self.gac_tr_cluster = clip(int(self.param_s.get("LongitudinalPersonality")), 1, 3)