Honda - Don't send cancel cmd when using comma pedal (#20922)
* cancel is never true if cruise isn't enabled and pedal * This is probably better * comment * want to see if this fails * see what Actions says about this * nice! just as a sanity test real quick * Revert "nice! just as a sanity test real quick" This reverts commit 2d86d1c32eca5ca8efb9b5d15483c65ce51c777a. * Revert "see what Actions says about this" This reverts commit c908488854ec391cc2ec0c2684739b94c5e526cc. * Revert "want to see if this fails" This reverts commit 2d515f37215095cedb790433429487d991630a9b. * specify the fix * No bitwise Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>albatross
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@ -101,6 +101,10 @@ class CarController():
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# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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pcm_cancel_cmd = True
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# Never send cancel command if we never enter cruise state (no cruise if pedal)
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# Cancel cmd causes brakes to release at a standstill causing grinding
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pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.enableCruise
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# *** rate limit after the enable check ***
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self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
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