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commabody: ignore fcw alerts (#32301) 

* ignore modelV2 and longitudinalPlan on the body to avoid fcw alerts

* move joystick_mode up because ignore depends on it

* revert and ignore fcw itself instead
This commit is contained in:
Armand du Parc Locmaria 2024-04-26 20:04:10 -07:00 committed by GitHub
parent 5783bdc513
commit adabd108e2
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selfdrive/controls/controlsd.py
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@ -369,7 +369,7 @@ class Controls:
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
if planner_fcw or model_fcw:
if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode):
self.events.add(EventName.fcw)
for m in messaging.drain_sock(self.log_sock, wait_for_one=False):