Hyundai: send driver override state when gas is pressed (#23745)
* send pre-enable state when gas is pressed formatting and it's out forgot one allow gas press show toggle revert changes revert changes * revert changepull/24004/head
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3d8537ab23
commit
6c7d178d96
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@ -97,7 +97,8 @@ class CarController():
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stopping = (actuators.longControlState == LongCtrlState.stopping)
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set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
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can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
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can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible,
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set_speed_in_units, stopping, CS.out.gasPressed))
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self.accel = accel
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# 20 Hz LFA MFA message
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@ -78,7 +78,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
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}
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping):
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def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping, gas_pressed):
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commands = []
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scc11_values = {
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@ -95,7 +95,7 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
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commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
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scc12_values = {
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"ACCMode": 1 if enabled else 0,
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"ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 0,
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"StopReq": 1 if enabled and stopping else 0,
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"aReqRaw": accel if enabled else 0,
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"aReqValue": accel if enabled else 0, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
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@ -111,7 +111,7 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
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"ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
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"JerkUpperLimit": max(jerk, 1.0) if (enabled and not stopping) else 0, # stock usually is 1.0 but sometimes uses higher values
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"JerkLowerLimit": max(-jerk, 1.0) if enabled else 0, # stock usually is 0.5 but sometimes uses higher values
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"ACCMode": 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
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"ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
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"ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
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}
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commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
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