Fix low speed engage on stop and go Hondas (#1613)

* fix low speed engage on stop and go Hondas * update ref commit
commaai · Jun 1, 2020 · f575a9e · f575a9e
1 parent 41fbce5
commit f575a9e
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -483,8 +483,9 @@ def update(self, c, can_strings):
 
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low
-    if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
-      # non loud alert if cruise disbales below 25mph as expected (+ a little margin)
+    if self.CP.enableCruise and not ret.cruiseState.enabled \
+       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0):
+      # non loud alert if cruise disables below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
         events.add(EventName.speedTooLow)
       else:

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d50cc2d81fd73dcfccfe1a8e2726879941ec5327
+5bad0192bf35d8f08f26dd5ac72b3c1d62a57569