Gas Interceptor: another fix to gas pressed logic

nanamiwang · Mar 17, 2018 · 703c0b4 · 703c0b4
1 parent 196d383
commit 703c0b4
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -8,6 +8,7 @@
 //      brake > 0mph
 
 // these are set in the Honda safety hooks...this is the wrong place
+const int gas_interceptor_threshold = 328;
 int gas_interceptor_detected = 0;
 int brake_prev = 0;
 int gas_prev = 0;
@@ -55,10 +56,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
     gas_interceptor_detected = 1;
     int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
-    if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) {
+    if ((gas_interceptor > gas_interceptor_threshold) &&
+        (gas_interceptor_prev <= gas_interceptor_threshold)) {
       controls_allowed = 0;
     }
-    gas_interceptor_prev = gas_interceptor > 328;
+    gas_interceptor_prev = gas_interceptor;
   }
 
   // exit controls on rising edge of gas press if no interceptor
@@ -83,7 +85,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed =  gas_prev || gas_interceptor_prev || (brake_prev && ego_speed);
+  int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
+                      (brake_prev && ego_speed);
   int current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check