wip

selfdrive/car/hyundai/carcontroller.py

@@ -137,6 +137,11 @@ class CarController(CarControllerBase):
                                                            set_speed_in_units, hud_control))
           self.accel_last = accel
       else:
+        # Clearpilot
+        # If cruise control was enabled or idle on start, force cancel
+        if CS.fix_main_enabled_cancel_main:
+          CS.fix_main_enabled_cancel_main = False
+          CC.cruiseControl.cancel = True
         # button presses
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
     else:

selfdrive/car/hyundai/carstate.py

@@ -61,6 +61,7 @@ class CarState(CarStateBase):
     # Clearpilot variables
     self.fix_main_enabled_check = True
     self.fix_main_enabled_executed = False
+    self.fix_main_enabled_cancel_main = False
 
   def calculate_speed_limit(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
@@ -279,8 +280,7 @@ class CarState(CarStateBase):
     if self.fix_main_enabled_check:
       self.fix_main_enabled_check = False
       if ret.cruiseState.speed > 1 and self.main_enabled == False:
-        self.main_enabled = True
-        self.fix_main_enabled_executed = True
+        self.fix_main_enabled_cancel_main = True
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED