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Chrysler: remove standstill exception for gas disengage (#23515) 

* Chrysler: remove standstill exception for gas disengage

* remove test exception

* bump panda

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23517/head
Jason Young 2022-01-13 19:06:56 -05:00 committed by GitHub
parent d5f4fdb1db
commit 57156c4482
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 4 additions and 15 deletions
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2
panda

@ -1 +1 @@
Subproject commit f5857bc8fd3e1d2c27df342df85e202c7e844911
Subproject commit a96615d25309fc29bad4eff782ef1c5aabd9124b

3
selfdrive/car/chrysler/interface.py
View File

@ -60,8 +60,7 @@ class CarInterface(CarInterfaceBase):
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
gas_resume_speed=2.)
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)

6
selfdrive/car/interfaces.py
View File

@ -107,7 +107,7 @@ class CarInterfaceBase(ABC):
def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
pass
def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
events = Events()
if cs_out.doorOpen:
@ -152,9 +152,7 @@ class CarInterfaceBase(ABC):
events.add(EventName.steerUnavailable)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)

8
selfdrive/test/test_models.py
View File

@ -12,7 +12,6 @@ from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.test.test_routes import routes, non_tested_cars
from selfdrive.test.openpilotci import get_url
@ -33,11 +32,6 @@ ignore_can_valid = [
HYUNDAI.SANTA_FE,
]
ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
CHRYSLER.PACIFICA_2017_HYBRID,
]
ignore_addr_checks_valid = [
GM.BUICK_REGAL,
HYUNDAI.GENESIS_G70_2020,
@ -179,8 +173,6 @@ class TestCarModel(unittest.TestCase):
"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
if self.car_model in ignore_carstate_check:
self.skipTest("see comments in test_models.py")
checks = defaultdict(lambda: 0)
CC = car.CarControl.new_message()