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controlsd: fix vCruise jumping on pcmCruise cars #23388

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merged 5 commits into from
Mar 3, 2022
Merged

controlsd: fix vCruise jumping on pcmCruise cars #23388

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d6903f4
clean up v_cruise_kph
sshane Jan 7, 2022
ba66b8a
Revert "clean up v_cruise_kph"
sshane Jan 7, 2022
0e9fef7
always update vCruise and don't init if pcmCruise
sshane Jan 7, 2022
595f118
revert change
sshane Mar 2, 2022
580dce1
update refs
sshane Mar 3, 2022
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3 changes: 2 additions & 1 deletion selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -455,7 +455,8 @@ def state_transition(self, CS):
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
if not self.CP.pcmCruise:
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)

# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
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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 @@
10555bbd908c7eead5eeaa36ab07ec2189845a95
595f118aa4f6eebacaef4db77179c108ec725483