From 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 17:51:38 -0700 Subject: [PATCH] need to understand lkas_blocked, can we just use that? need to understand lkas_blocked, can we just use that? --- selfdrive/car/mazda/carstate.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 6e1ad3e481..18445d6b6c 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ class CarState(CarStateBase): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = False + self.lkas_allowed_speed = True self.lkas_disabled = False def update(self, cp, cp_cam): @@ -70,10 +70,8 @@ class CarState(CarStateBase): # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked: self.lkas_allowed_speed = True - elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: + elif speed_kph < LKAS_LIMITS.DISABLE_SPEED or lkas_blocked: self.lkas_allowed_speed = False - else: - self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead