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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_resume = (button == HYUNDAI_BTN_RESUME);
bool is_set_decel = (button == 2); 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 && controls_allowed)
|| (is_resume && is_set_decel); || (is_set_decel && controls_allowed);
if (!allowed) { if (!allowed) {
tx = false; tx = false;

1
selfdrive/car/hyundai/carstate.py
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@@ -281,6 +281,7 @@ class CarState(CarStateBase):
self.fix_main_enabled_check = False self.fix_main_enabled_check = False
if ret.cruiseState.speed > 1 and self.main_enabled == False: if ret.cruiseState.speed > 1 and self.main_enabled == False:
self.fix_main_enabled_cancel_main = True self.fix_main_enabled_cancel_main = True
self.fix_main_enabled_executed = True
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] 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 ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED