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

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Jun 1, 2020
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Mazda: Slower rate for ACC cancel msg to avoid cruise disable #1615

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d3ab89d
Slower rate for ACC cancel msg to avoid cruise disable
Jafaral Jun 1, 2020
baaa52c
Round up 27.96 to 28mph
Jafaral Jun 1, 2020
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8 changes: 4 additions & 4 deletions selfdrive/car/mazda/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
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@adeebshihadeh adeebshihadeh Jun 1, 2020 •
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Can you use DT_CTRL instead? It's in common.realtime

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not familiar with it pointer?

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I'm going to leave this as is for now @adeebshihadeh as it works fine now. DT_CTRL will require more code changes and more test drives which delay things if we want to get these fixes in 0.7.6.

# 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))

self.apply_steer_last = apply_steer
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2 changes: 1 addition & 1 deletion selfdrive/car/mazda/interface.py
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Expand Up @@ -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

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