From 39721f2bfee97673c05281cc29af339be9ec5523 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Sun, 17 May 2020 17:49:32 -0500 Subject: [PATCH] Tidy up disengage events Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carstate.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index a03ef6e941..30a4a97cea 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/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"]