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Mazda: fix disabling cruise main on after cancelling cruise (#22193)

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On some disengagement events (brake/gas/etc) OP may occasionally
ends up disabling the main cruise control where the driver has
to press the main cruise button before they can engage ACC again.
Try to detect this situation and automatically turn on cruise
when that happens.

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
This commit is contained in:
Jafar Al-Gharaibeh
2021-10-10 16:24:57 -05:00
committed by GitHub
parent d19ac7e49b
commit c898939423
1 changed files with 12 additions and 4 deletions
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16
selfdrive/car/mazda/carcontroller.py
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@@ -8,6 +8,7 @@ class CarController():
self.apply_steer_last = 0
self.packer = CANPacker(dbc_name)
self.steer_rate_limited = False
self.brake_counter = 0
def update(self, enabled, CS, frame, actuators):
""" Controls thread """
@@ -31,10 +32,17 @@ class CarController():
else:
apply_steer = 0
self.steer_rate_limited = False
if CS.out.cruiseState.enabled and frame % 20 == 0:
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 5hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
if CS.out.cruiseState.enabled:
# if brake is pressed, let us wait >20ms before trying to disable crz to avoid
# a race condition with the stock system, where the second cancel from openpilot
# will disable the crz 'main on'
self.brake_counter = self.brake_counter + 1
if frame % 20 == 0 and not (CS.out.brakePressed and self.brake_counter < 3):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 5hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
else:
self.brake_counter = 0
self.apply_steer_last = apply_steer