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Fix low speed engage on stop and go Hondas (#1613) 

* fix low speed engage on stop and go Hondas

* update ref commit
Willem Melching 2020-06-01 10:14:11 -07:00
parent ffe062c774
commit 3b62a21fa7
2 changed files with 4 additions and 3 deletions
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5
selfdrive/car/honda/interface.py
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@ -480,8 +480,9 @@ class CarInterface(CarInterfaceBase):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
# non loud alert if cruise disbales below 25mph as expected (+ a little margin)
if self.CP.enableCruise and not ret.cruiseState.enabled \
and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0):
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
if ret.vEgo < self.CP.minEnableSpeed + 2.:
events.add(EventName.speedTooLow)
else:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
d50cc2d81fd73dcfccfe1a8e2726879941ec5327
5bad0192bf35d8f08f26dd5ac72b3c1d62a57569