Hyundai: send driver override state when gas is pressed (#23745)

* send pre-enable state when gas is pressed formatting and it's out forgot one allow gas press show toggle revert changes revert changes * revert change
commaai · Mar 18, 2022 · 6c7d178 · 6c7d178
1 parent 3d8537a
commit 6c7d178
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -97,7 +97,8 @@ def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_spee
 
       stopping = (actuators.longControlState == LongCtrlState.stopping)
       set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
-      can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
+      can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible,
+                                           set_speed_in_units, stopping, CS.out.gasPressed))
       self.accel = accel
 
     # 20 Hz LFA MFA message

diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
@@ -78,7 +78,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping):
+def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping, gas_pressed):
   commands = []
 
   scc11_values = {
@@ -95,7 +95,7 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
   scc12_values = {
-    "ACCMode": 1 if enabled else 0,
+    "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 0,
     "StopReq": 1 if enabled and stopping else 0,
     "aReqRaw": accel if enabled else 0,
     "aReqValue": accel if enabled else 0, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
@@ -111,7 +111,7 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
     "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": max(jerk, 1.0) if (enabled and not stopping) else 0, # stock usually is 1.0 but sometimes uses higher values
     "JerkLowerLimit": max(-jerk, 1.0) if enabled else 0, # stock usually is 0.5 but sometimes uses higher values
-    "ACCMode": 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
+    "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))