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c898939423
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>
52 lines
2.3 KiB
Python
52 lines
2.3 KiB
Python
from selfdrive.car.mazda import mazdacan
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from selfdrive.car.mazda.values import CarControllerParams, Buttons
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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self.brake_counter = 0
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def update(self, enabled, CS, frame, actuators):
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""" Controls thread """
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can_sends = []
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### STEER ###
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if enabled:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorque, CarControllerParams)
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self.steer_rate_limited = new_steer != apply_steer
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if CS.out.standstill and frame % 5 == 0:
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# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
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# Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
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# TODO: improve the resume trigger logic by looking at actual radar data
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
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else:
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apply_steer = 0
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self.steer_rate_limited = False
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if CS.out.cruiseState.enabled:
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# if brake is pressed, let us wait >20ms before trying to disable crz to avoid
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# a race condition with the stock system, where the second cancel from openpilot
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# will disable the crz 'main on'
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self.brake_counter = self.brake_counter + 1
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if frame % 20 == 0 and not (CS.out.brakePressed and self.brake_counter < 3):
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# Cancel Stock ACC if it's enabled while OP is disengaged
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# Send at a rate of 5hz until we sync with stock ACC state
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
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else:
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self.brake_counter = 0
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self.apply_steer_last = apply_steer
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can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
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frame, apply_steer, CS.cam_lkas))
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return can_sends
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