diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 57058a5..6656fbf 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -199,9 +199,10 @@ class CarController(CarControllerBase): # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) - self.last_button_frame = self.frame - CS.lkas_trigger_result = 1 + pass + # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) + # self.last_button_frame = self.frame + # CS.lkas_trigger_result = 1 else: for _ in range(20): can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 0871659..2dffb37 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -796,7 +796,7 @@ class Controls: CC.angularVelocity = angular_rate_value CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl - CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) + CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) and self.CP.openpilotLongitudinalControl # IMPORTANT POSSIBLY PATCH needs and oplong if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: CC.cruiseControl.cancel = True