contolsd: combine active and enabled #23849
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This was referenced Feb 24, 2022
sshane
changed the title
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I think we decided that preEnabled will stay as is if disengage on gas is enabled, right @pd0wm? |
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@adeebshihadeh That is correct. Panda needs to block steering while gas is pressed if disengage on gas is enabled. |
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This PR is rather big so I'll make sure no behavior changes here |
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Moved to #23859 |
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Refactor of values that describe if openpilot is enabled or not, as
enabledbeing all states exceptpreEnable(from gas press) is confusing from the perspective of the car controllers. Now they explicitly check for gas pressed when dealing with longitudinal.Also steers while in pre-enable state so whether openpilot will steer while gas is pressed isn't different based on a toggle
Resolves one of the pre-reqs for #23588