From c6ce88e23136dd5d9b2a1372c70f98a51af76aed Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 12 Nov 2021 12:18:13 -0800 Subject: [PATCH] Nissan: use cleaner Leaf brake pressed signal (#22890) --- panda | 2 +- selfdrive/car/nissan/carstate.py | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/panda b/panda index cc8e705d7c..73bbf58567 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit cc8e705d7c72fbba7a8d9f61e1d1895ee060afc5 +Subproject commit 73bbf5856769a0b16c22a185635dafbe6a4aa152 diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 4e5e02cdf2..a4019b538c 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -33,7 +33,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]: ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"]) elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: - ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3) + ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"]) ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS @@ -184,8 +184,7 @@ class CarState(CarStateBase): elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: signals += [ - ("BRAKE_PEDAL", "BRAKE_PEDAL", 0), - + ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1), ("GAS_PEDAL", "CRUISE_THROTTLE", 0), ("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0), ("SPEED_MPH", "HUD_SETTINGS", 0),