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Pedal interceptor longitudinal control

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 1a33c93961
commit fc3b8ead19
9 changed files with 156 additions and 21 deletions
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panda/board/safety.h
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@@ -544,7 +544,7 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
}
bool longitudinal_interceptor_checks(const CANPacket_t *to_send) {
return !get_longitudinal_allowed() && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
return (!get_longitudinal_allowed() || brake_pressed_prev) && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
}
// Safety checks for torque-based steering commands