From 49498aa7b5c7e5aed7a6ea767a0a9f10cb7dfdc7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 27 Mar 2022 18:06:28 -0700 Subject: [PATCH] controlsd: no cruise speed while main off (#24052) * controlsd: no cruise speed while main off * probably more accurate * update refs --- selfdrive/controls/controlsd.py | 7 +++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 9367530304..f6c59559ad 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -403,8 +403,11 @@ class Controls: # if stock cruise is completely disabled, then we can use our own set speed logic if not self.CP.pcmCruise: self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric) - elif CS.cruiseState.enabled: - self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + else: + if CS.cruiseState.available: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + else: + self.v_cruise_kph = 0 # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 65368e2634..33412d06f4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -81ec7708ef7582ab950f9af4810d403fce292eb1 \ No newline at end of file +98d82b2da600755b12e9ecb2744bf4a8b0942ca1 \ No newline at end of file