Try brake hack for DoA, remove accEnabled cancellation logic

carleeno · Aug 7, 2024 · 7de7600 · 7de7600
1 parent 534de90
commit 7de7600
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
@@ -79,7 +79,7 @@ def update(self, CC, CS, now_nanos):
       can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16, use_lka_mode))
 
 
-    self.pcm_cancel_cmd = CC.cruiseControl.cancel or not CS.accEnabled or self.pcm_cancel_cmd
+    self.pcm_cancel_cmd = CC.cruiseControl.cancel or self.pcm_cancel_cmd
 
     if not self.virtual_blending:
       # Cancel on user steering override when blending and MADS are disabled

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -62,12 +62,10 @@ def _update(self, c):
 
     self.CS.accEnabled = ret.cruiseState.enabled  # ACC state is controlled by the car itself
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      self.CS.madsEnabled, _ = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      # TEMP HACK: trying to find a way to set CC.cruiseControl.cancel
+      ret.brakePressed = True
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS)