From a8d110ad7407839a386b6804f336718c2117ed8e Mon Sep 17 00:00:00 2001 From: Vehicle Researcher Date: Sun, 18 Mar 2018 10:32:24 -0700 Subject: [PATCH] Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764 --- VERSION | 2 +- board/safety/safety_honda.h | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/VERSION b/VERSION index 77e86d4239..992977ad20 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -v1.0.9 \ No newline at end of file +v1.1.0 \ No newline at end of file diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h index 7333063945..5fe3ebf7c9 100644 --- a/board/safety/safety_honda.h +++ b/board/safety/safety_honda.h @@ -8,6 +8,7 @@ // brake > 0mph // these are set in the Honda safety hooks...this is the wrong place +const int gas_interceptor_threshold = 328; int gas_interceptor_detected = 0; int brake_prev = 0; int gas_prev = 0; @@ -55,7 +56,8 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) { gas_interceptor_detected = 1; int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8); - if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) { + if ((gas_interceptor > gas_interceptor_threshold) && + (gas_interceptor_prev <= gas_interceptor_threshold)) { controls_allowed = 0; } gas_interceptor_prev = gas_interceptor; @@ -83,7 +85,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { // disallow actuator commands if gas or brake (with vehicle moving) are pressed // and the the latching controls_allowed flag is True - int pedal_pressed = gas_prev || gas_interceptor_prev || (brake_prev && ego_speed); + int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) || + (brake_prev && ego_speed); int current_controls_allowed = controls_allowed && !(pedal_pressed); // BRAKE: safety check