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enforce cruise main disengage

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This commit is contained in:
Jason Wen
2024-11-13 20:39:47 -05:00
parent 097c976a49
commit de1b084902
1 changed files with 5 additions and 6 deletions
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sunnypilot/mads/mads.py
+5 -6
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@@ -26,14 +26,13 @@ class ModifiedAssistDrivingSystem:
self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake", self.selfdrive.params)
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
def update_availability(self, CS: car.CarState, available: bool = False) -> bool:
def update_availability(self, CS: car.CarState) -> None:
if self.main_enabled_toggle:
available |= CS.cruiseState.available
self.available = CS.cruiseState.available
if self.selfdrive.CP.carName == "hyundai":
available = True
return available
if any(be.type == ButtonType.lkas and be.pressed for be in CS.buttonEvents):
self.available = True
def update_events(self, CS: car.CarState):
self.selfdrive.events.remove(EventName.pcmDisable)
@@ -86,7 +85,7 @@ class ModifiedAssistDrivingSystem:
if not self.enabled_toggle:
return
self.available = self.update_availability(CS)
self.update_availability(CS)
self.update_events(CS)