From f3c86bd9ddc84c767da251b47c6f2fcc3c57a3b5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 12 Jun 2023 23:10:55 -0400 Subject: [PATCH] CSLC: handle FCA resume button differently (#144) --- selfdrive/controls/lib/drive_helpers.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 57ca0ea28e..98c8ba3d10 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -124,9 +124,14 @@ class VCruiseHelper: if button_type is None: return + resume_button = ButtonType.accelCruise + if not self.CP.pcmCruiseSpeed: + if self.CP.carName == "chrysler": + resume_button = ButtonType.resumeCruise + # Don't adjust speed when pressing resume to exit standstill cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill - if button_type == ButtonType.accelCruise and cruise_standstill: + if button_type == resume_button and cruise_standstill: return # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)