MADS: allow Disengage on Accelerator (commaai#243)

* MADS: allow Disengage on Accelerator * make sure to disable in interfaces
opgm · Sep 4, 2023 · e362198 · e362198
1 parent c993256
commit e362198
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -390,13 +390,14 @@ def get_sp_v_cruise_non_pcm_state(self, cs_out, acc_enabled, button_events, vCru
     return acc_enabled, button_events
 
   def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False):
-    mads_enabled = False if not self.enable_mads else mads_enabled
+    mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled
     return mads_enabled, acc_enabled
 
   def get_sp_pedal_disengage(self, cs_out):
+    accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator
     brake = cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)
     regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)
-    return brake or regen
+    return accel_pedal or brake or regen
 
   def get_sp_cruise_main_state(self, cs_out, CS):
     if not CS.control_initialized:

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -116,9 +116,6 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
-    if self.enable_mads and self.disengage_on_accelerator:
-      self.params.put_bool("DisengageOnAccelerator", False)
-      self.disengage_on_accelerator = False
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS