Revert "Mazda: alert when LKAS is disabled (#23273)"
This reverts commit f25121b736
.
pull/22238/head^2
parent
f25121b736
commit
c92199ab1a
2
cereal
2
cereal
|
@ -1 +1 @@
|
|||
Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4
|
||||
Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f
|
|
@ -16,7 +16,6 @@ class CarState(CarStateBase):
|
|||
self.acc_active_last = False
|
||||
self.low_speed_alert = False
|
||||
self.lkas_allowed_speed = False
|
||||
self.lkas_disabled = False
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
|
||||
|
@ -92,12 +91,9 @@ class CarState(CarStateBase):
|
|||
|
||||
self.acc_active_last = ret.cruiseState.enabled
|
||||
|
||||
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
|
||||
|
||||
# camera signals
|
||||
self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
|
||||
self.cam_lkas = cp_cam.vl["CAM_LKAS"]
|
||||
self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
|
||||
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
|
||||
ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
|
||||
|
||||
return ret
|
||||
|
|
|
@ -86,9 +86,7 @@ class CarInterface(CarInterfaceBase):
|
|||
# events
|
||||
events = self.create_common_events(ret)
|
||||
|
||||
if self.CS.lkas_disabled:
|
||||
events.add(EventName.lkasDisabled)
|
||||
elif self.CS.low_speed_alert:
|
||||
if self.CS.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
|
|
@ -832,9 +832,4 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
|||
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.lkasDisabled: {
|
||||
ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
|
||||
ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
|
||||
},
|
||||
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue