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Chrysler: remove standstill exception for gas disengage #23515

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merged 3 commits into from
Jan 14, 2022
Merged

Chrysler: remove standstill exception for gas disengage #23515

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aef5eb4
Chrysler: remove standstill exception for gas disengage
jyoung8607 Jan 13, 2022
22f47cd
remove test exception
adeebshihadeh Jan 14, 2022
c60b213
bump panda
adeebshihadeh Jan 14, 2022
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2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 2 files
+1 −6 board/safety/safety_chrysler.h
+0 −21 tests/safety/test_chrysler.py
3 changes: 1 addition & 2 deletions selfdrive/car/chrysler/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,8 +60,7 @@ def update(self, c, can_strings):
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False

# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
gas_resume_speed=2.)
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])

if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)
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6 changes: 2 additions & 4 deletions selfdrive/car/interfaces.py
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
pass

def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
events = Events()

if cs_out.doorOpen:
Expand Down Expand Up @@ -152,9 +152,7 @@ def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pc
events.add(EventName.steerUnavailable)

# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)

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8 changes: 0 additions & 8 deletions selfdrive/test/test_models.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.test.test_routes import routes, non_tested_cars
from selfdrive.test.openpilotci import get_url
Expand All @@ -33,11 +32,6 @@
HYUNDAI.SANTA_FE,
]

ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
CHRYSLER.PACIFICA_2017_HYBRID,
]

ignore_addr_checks_valid = [
GM.BUICK_REGAL,
HYUNDAI.GENESIS_G70_2020,
Expand Down Expand Up @@ -179,8 +173,6 @@ def test_panda_safety_carstate(self):
"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
if self.car_model in ignore_carstate_check:
self.skipTest("see comments in test_models.py")

checks = defaultdict(lambda: 0)
CC = car.CarControl.new_message()
Expand Down