From 04a61cefc79f51d95938fedc2a9fd96db6348eff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 7 Mar 2022 10:37:23 -0800 Subject: [PATCH] Honda: remove redundant steer fault check (#23920) old-commit-hash: 6ff643c47863cb31da8bf2c1b9f99cbd5a561d32 --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/carstate.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 49581799a7..3ba8b64dd3 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -152,7 +152,7 @@ class CarController(): # steer torque is converted back to CAN reference (positive when steering right) apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V)) - lkas_active = active and not CS.steer_not_allowed + lkas_active = active # Send CAN commands. can_sends = [] diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 5352f5bd00..4d09fdcacb 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -198,9 +198,8 @@ class CarState(CarStateBase): steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]] ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT") - # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver - self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2") # LOW_SPEED_LOCKOUT is not worth a warning + # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if self.CP.openpilotLongitudinalControl: