Allow gas press (on param enable)

sshane · Oct 27, 2020 · f1c99e8 · f1c99e8
1 parent 4b10f40
commit f1c99e8
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -107,6 +107,9 @@ void safety_setter_thread() {
  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
  cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
+ LOGW("setting unsafe_mode for gas press");
+ panda->usb_write(0xdf, 9, 0);
+
  auto safety_param = car_params.getSafetyParam();
  LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
 

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -8,6 +8,7 @@
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from common.op_params import opParams
 
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
@@ -19,6 +20,7 @@ class CarInterfaceBase():
  def __init__(self, CP, CarController, CarState):
  self.CP = CP
  self.VM = VehicleModel(CP)
+ self.disengage_on_gas = opParams().get('disengage_on_gas')
 
  self.frame = 0
  self.low_speed_alert = False
@@ -100,7 +102,7 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
  events.add(EventName.wrongCarMode)
  if cs_out.espDisabled:
  events.add(EventName.espDisabled)
- if cs_out.gasPressed:
+ if cs_out.gasPressed and self.disengage_on_gas:
  events.add(EventName.gasPressed)
  if cs_out.stockFcw:
  events.add(EventName.stockFcw)
@@ -119,8 +121,8 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
  # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
  # Optionally allow to press gas at zero speed to resume.
  # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
- if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
- (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
+ if (cs_out.gasPressed and (not self.CS.out.gasPressed) and self.disengage_on_gas and cs_out.vEgo > gas_resume_speed) or \
+ (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)): # still disengages on brake!
  events.add(EventName.pedalPressed)
 
  # we engage when pcm is active (rising edge)