alerts: make soft disables an orange alert (#22925)

commaai · Nov 16, 2021 · 833399e · 833399e
1 parent 10bca09
commit 833399e
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -404,7 +404,7 @@ def state_transition(self, CS):
     elif self.CP.pcmCruise and CS.cruiseState.enabled:
       self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 
-    # decrease the soft disable timer at every step, as it's reset on
+    # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
     self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
 
@@ -426,7 +426,7 @@ def state_transition(self, CS):
         if self.state == State.enabled:
           if self.events.any(ET.SOFT_DISABLE):
             self.state = State.softDisabling
-            self.soft_disable_timer = 300   # 3s
+            self.soft_disable_timer = int(3 / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
         # SOFT DISABLING

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -149,7 +149,7 @@ def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
 class SoftDisableAlert(Alert):
   def __init__(self, alert_text_2):
     super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
+                     AlertStatus.userPrompt, AlertSize.full,
                      Priority.MID, VisualAlert.steerRequired,
                      AudibleAlert.chimeWarningRepeatInfinite, 2.),