Add brake press disengagement in Chrysler (#1163)

* Add brake press disengagement in Chrysler
6 years ago · e90d0e832d
parent 61706ce3a0
commit e90d0e832d
3 changed files with 4 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d7f1195d1eef4ca3f90c17e61f07d95a566f3107
+Subproject commit dad5858b8cfdb26962b22dd133b0ff4643eace5f
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -79,7 +79,8 @@ class CarInterface(CarInterfaceBase):

    # disable on gas pedal and speed isn't zero. Gas pedal is used to resume ACC
    # from a 3+ second stop.
-    if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0):
+    if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0) or \
+       (ret.brakePressed and (not self.brake_pressed_prev or not ret.standstill)):
      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

    if ret.vEgo < self.CP.minSteerSpeed:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-0d18f87c308ce685f1010b81b65c62780f2c0c35
+3a4caf91334a4a8febb56fc195813313e53c9f44