|
|
|
@ -41,25 +41,25 @@ class CarController(): |
|
|
|
|
acc_status = CS.tsk_status |
|
|
|
|
|
|
|
|
|
accel = actuators.accel if enabled else 0 |
|
|
|
|
|
|
|
|
|
accel = clip(accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0 |
|
|
|
|
|
|
|
|
|
# FIXME: this needs to become a proper state machine |
|
|
|
|
acc_hold_request, acc_hold_release = False, False |
|
|
|
|
if actuators.longControlState == LongCtrlState.stopping: |
|
|
|
|
accel = -1.0 |
|
|
|
|
self.acc_stopping = True |
|
|
|
|
acc_hold_request = not CS.esp_hold_confirmation |
|
|
|
|
acc_hold_request = not CS.esp_hold_confirmation # Send hold request for ABS/ESP brake-hold until acked |
|
|
|
|
elif enabled: |
|
|
|
|
if self.acc_stopping: |
|
|
|
|
self.acc_starting = True |
|
|
|
|
self.acc_stopping = False |
|
|
|
|
self.acc_starting &= CS.out.vEgo < 0.2 |
|
|
|
|
acc_hold_release = CS.esp_hold_confirmation |
|
|
|
|
self.acc_starting &= CS.out.vEgo < CS.CP.vEgoStarting |
|
|
|
|
acc_hold_release = CS.esp_hold_confirmation # Send release request for ABS/ESP brake-hold until acked |
|
|
|
|
else: |
|
|
|
|
self.acc_stopping, self.acc_starting = False, False |
|
|
|
|
|
|
|
|
|
cb_pos = 0.0 if lead_visible else 0.1 |
|
|
|
|
cb_neg = 0.1 |
|
|
|
|
# Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again |
|
|
|
|
cb_pos = 0.2 |
|
|
|
|
cb_neg = 0.2 |
|
|
|
|
|
|
|
|
|
if acc_hold_request: |
|
|
|
|
weird_value = 0x88 |
|
|
|
|