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2024-05-04 01:18:15 -05:00
parent e1cd56ab16
commit fe14c0506b
2 changed files with 5 additions and 2 deletions
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6
panda/board/safety/safety_hyundai_canfd.h
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@@ -251,9 +251,11 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
bool is_resume = (button == HYUNDAI_BTN_RESUME);
bool is_set_decel = (button == 2);
bool allowed = (is_cancel && cruise_engaged_prev)
// bool allowed = (is_cancel && cruise_engaged_prev)
// Todo: allow is_cancel anytime speed > 0 on cruiseState
bool allowed = (is_cancel)
|| (is_resume && controls_allowed)
|| (is_resume && is_set_decel);
|| (is_set_decel && controls_allowed);
if (!allowed) {
tx = false;