From 3b62a21fa778f2f0174568be807e5ead1809e261 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 1 Jun 2020 10:14:11 -0700 Subject: [PATCH] Fix low speed engage on stop and go Hondas (#1613) * fix low speed engage on stop and go Hondas * update ref commit --- selfdrive/car/honda/interface.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 0edae57dd..4c566b381 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -480,8 +480,9 @@ class CarInterface(CarInterfaceBase): # it can happen that car cruise disables while comma system is enabled: need to # keep braking if needed or if the speed is very low - if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl): - # non loud alert if cruise disbales below 25mph as expected (+ a little margin) + if self.CP.enableCruise and not ret.cruiseState.enabled \ + and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0): + # non loud alert if cruise disables below 25mph as expected (+ a little margin) if ret.vEgo < self.CP.minEnableSpeed + 2.: events.add(EventName.speedTooLow) else: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7e5f01eb3..bdcc7b799 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d50cc2d81fd73dcfccfe1a8e2726879941ec5327 \ No newline at end of file +5bad0192bf35d8f08f26dd5ac72b3c1d62a57569 \ No newline at end of file