Tidy up disengage events

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
pull/988/head
Jafar Al-Gharaibeh 5 years ago committed by Adeeb Shihadeh
parent b860882a6c
commit 39721f2bfe
  1. 7
      selfdrive/car/mazda/carstate.py

@ -54,7 +54,7 @@ class CarState(CarStateBase):
cp.vl["DOORS"]['BL'], cp.vl["DOORS"]['BR']])
ret.gas = cp.vl["ENGINE_DATA"]['PEDAL_GAS']
ret.gasPressed = ret.gas > 1e-3
ret.gasPressed = ret.gas > 0
# No steer if block signal is on
# block = cp.vl["STEER_RATE"]['LKAS_BLOCK'] == 1
@ -77,7 +77,7 @@ class CarState(CarStateBase):
self.cruise_speed = ret.vEgoRaw
ret.cruiseState.available = cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1
if not ret.cruiseState.available:
if not ret.cruiseState.available or ret.gasPressed or ret.brakePressed:
self.acc_active = False
ret.cruiseState.enabled = self.acc_active
@ -96,9 +96,6 @@ class CarState(CarStateBase):
ret.steerWarning = handsoff
if ret.gasPressed:
self.acc_active = False
self.acc_active_last = self.acc_active
self.cam_lkas = cp_cam.vl["CAM_LKAS"]

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