Mazda: Slower rate for ACC cancel msg to avoid cruise disable (#1615)

* Slower rate for ACC cancel msg to avoid cruise disable Sending ACC cancel message at 10hz may end up disabling main cruise state. That is because stoc ACC use the same signal for both functions. If cruise is already enabled the signal canceles it, otherwise cruise is disabled. 10hz seems to be still fast in some cases not allowing the state to sync up between OP and the Stock state. 5hz avoids that issue. Also, the resume message was also updated to 5hz as that seems to work better as well. Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Round up 27.96 to 28mph Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
commaai · Jun 1, 2020 · ffe062c · ffe062c
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commit ffe062c
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
@@ -23,17 +23,17 @@ def update(self, enabled, CS, frame, actuators):
                                                   CS.out.steeringTorque, SteerLimitParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if CS.out.standstill and frame % 50 == 0:
+      if CS.out.standstill and frame % 20 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 2hz if we're engaged at standstill to support full stop and go!
+        # Send Resume button at 5hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
     else:
       apply_steer = 0
       self.steer_rate_limited = False
-      if CS.out.cruiseState.enabled and frame % 10 == 0:
+      if CS.out.cruiseState.enabled and frame % 20 == 0:
         # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Match stock message rate which is sent at 10hz
+        # Send at a rate of 5hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
 
 

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
@@ -44,7 +44,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kf = 0.00006
 
       # No steer below disable speed
-      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+      ret.minSteerSpeed = round(LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS)
 
 
     ret.centerToFront = ret.wheelbase * 0.41