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Fix low speed engage on stop and go Hondas #1613

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merged 2 commits into from
Jun 1, 2020
Merged

Fix low speed engage on stop and go Hondas #1613

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5bad019
fix low speed engage on stop and go Hondas
pd0wm May 31, 2020
052e88b
update ref commit
pd0wm May 31, 2020
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5 changes: 3 additions & 2 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -484,8 +484,9 @@ 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:
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2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
d50cc2d81fd73dcfccfe1a8e2726879941ec5327
5bad0192bf35d8f08f26dd5ac72b3c1d62a57569