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Eliminate unnecessary temporary disengagements (#584) 

This status was defined as a bump error, but it isn't actually due to bumps.  It's also triggered by driver overrides that are somewhat higher than the "steer_override" threshold.  By removing this temporary disengagement, the car is much more predictable on bumpy roads AND in turns that require assistance from the driver.
pull/589/head
Gernby 2019-04-02 02:21:23 -05:00 committed by rbiasini
parent 03f09105c6
commit ca2f30989d
1 changed files with 3 additions and 3 deletions
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6
selfdrive/car/honda/carstate.py
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@ -198,11 +198,11 @@ class CarState(object):
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
# 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
# 2 = temporary; 3 = TBD; 4 = significant steering wheel torque; 5 = (permanent); 6 = temporary; 7 = (permanent)
# TODO: Use values from DBC to parse this field
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3] # 3 is low speed lockout, not worth a warning
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 4] # 4 can be caused by bump OR steering nudge from driver
self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3, 4] # 3 is low speed lockout, not worth a warning
if self.CP.radarOffCan:
self.brake_error = 0
else: