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safety: remove disengage on gas (#2232)

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* rm dog

* add back
This commit is contained in:
Adeeb Shihadeh
2025-05-13 14:32:03 -07:00
committed by GitHub
parent 06200ae89a
commit a633eeb65c
4 changed files with 3 additions and 15 deletions
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1
opendbc/safety/__init__.py
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@@ -5,7 +5,6 @@ LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
ALLOW_AEB = 16

4
opendbc/safety/safety.h
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@@ -347,10 +347,6 @@ static void relay_malfunction_set(void) {
}
static void generic_rx_checks(void) {
// exit controls on rising edge of gas press
if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = false;
}
gas_pressed_prev = gas_pressed;
// exit controls on rising edge of brake press

4
opendbc/safety/safety_declarations.h
View File

@@ -271,11 +271,11 @@ extern uint32_t ts_angle_last;
extern int desired_angle_last;
extern struct sample_t angle_meas; // last 6 steer angles/curvatures
// This can be set with a USB command
// Alt experiences can be set with a USB command
// It enables features that allow alternative experiences, like not disengaging on gas press
// It is only either 0 or 1 on mainline comma.ai openpilot
#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1
//#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1 // not used anymore, but reserved
// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
#define ALT_EXP_DISABLE_STOCK_AEB 2

9
opendbc/safety/tests/common.py
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@@ -944,17 +944,10 @@ class PandaCarSafetyTest(PandaSafetyTest):
self._rx(self._user_gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
def test_disengage_on_gas(self):
def test_no_disengage_on_gas(self):
self._rx(self._user_gas_msg(0))
self.safety.set_controls_allowed(True)
self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
self.assertFalse(self.safety.get_controls_allowed())
def test_alternative_experience_no_disengage_on_gas(self):
self._rx(self._user_gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
# Test we allow lateral, but not longitudinal
self.assertTrue(self.safety.get_controls_allowed())
self.assertFalse(self.safety.get_longitudinal_allowed())