From 8525cf6333816f067a042629e828dbee36d02173 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 2 Jul 2024 17:23:15 -0400 Subject: [PATCH] Revert "MADS: Honda Nidec: Fix enforce cruise cancel with stock PCM" This reverts commit c313af5c --- selfdrive/car/honda/carstate.py | 2 +- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/interfaces.py | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index d412f81142..ae8746d958 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -242,7 +242,7 @@ 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 = self.pcm_cruise_enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 + ret.cruiseState.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 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 1aba4d3119..457b095e6a 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -298,7 +298,7 @@ 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 = self.CS.pcm_cruise_enabled + self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled 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), diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 35858557f4..00f48f0e07 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -775,7 +775,6 @@ class CarStateBase(ABC): self.mads_enabled = False self.prev_mads_enabled = False self.control_initialized = False - self.pcm_cruise_enabled = False Q = [[0.0, 0.0], [0.0, 100.0]] R = 0.3