cars: remove duplicated cancel logic (#23956)
parent
a958213ec7
commit
b9484a6a99
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@ -32,7 +32,7 @@ class CarController():
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# TODO: improve the resume trigger logic by looking at actual radar data
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
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if c.cruiseControl.cancel or (CS.out.cruiseState.enabled and not c.enabled):
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if c.cruiseControl.cancel:
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# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
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# a race condition with the stock system, where the second cancel from openpilot
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# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
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@ -24,7 +24,6 @@ class CarController():
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can_sends = []
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### STEER ###
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acc_active = CS.out.cruiseState.enabled
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lkas_hud_msg = CS.lkas_hud_msg
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lkas_hud_info_msg = CS.lkas_hud_info_msg
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apply_angle = actuators.steeringAngleDeg
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@ -58,10 +57,6 @@ class CarController():
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self.last_angle = apply_angle
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if not enabled and acc_active:
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# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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cruise_cancel = 1
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if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
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can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
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@ -50,10 +50,6 @@ class CarController():
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if hands_on_fault:
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cruise_cancel = True
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# Cancel when openpilot is not enabled anymore
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if not enabled and bool(CS.out.cruiseState.enabled):
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cruise_cancel = True
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if ((frame % 10) == 0 and cruise_cancel):
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# Spam every possible counter value, otherwise it might not be accepted
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for counter in range(16):
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@ -88,7 +88,7 @@ class CarController():
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if CS.CP.pcmCruise:
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if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
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if not enabled and CS.out.cruiseState.enabled:
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if c.cruiseControl.cancel:
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# Cancel ACC if it's engaged with OP disengaged.
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self.graButtonStatesToSend = BUTTON_STATES.copy()
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self.graButtonStatesToSend["cancel"] = True
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