From fef4b0c428ba7f5a276ba90b7362f470feca0c4f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 17:39:32 -0700 Subject: [PATCH 1/6] allow steer if minSteerSpeed is <= 0 --- selfdrive/car/mazda/carstate.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index fa15f2453ce2f7..6e1ad3e481a0c8 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -72,6 +72,8 @@ def update(self, cp, cp_cam): self.lkas_allowed_speed = True elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead From 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 17:51:38 -0700 Subject: [PATCH 2/6] need to understand lkas_blocked, can we just use that? need to understand lkas_blocked, can we just use that? --- selfdrive/car/mazda/carstate.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 6e1ad3e481a0c8..18445d6b6cd544 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ def __init__(self, CP): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = False + self.lkas_allowed_speed = True self.lkas_disabled = False def update(self, cp, cp_cam): @@ -70,10 +70,8 @@ def update(self, cp, cp_cam): # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked: self.lkas_allowed_speed = True - elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: + elif speed_kph < LKAS_LIMITS.DISABLE_SPEED or lkas_blocked: self.lkas_allowed_speed = False - else: - self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead From a59b7edd5e33dca62d827cdd9fd4e15d1e95f3f0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 18:14:38 -0700 Subject: [PATCH 3/6] Revert "need to understand lkas_blocked, can we just use that?" This reverts commit 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b. --- selfdrive/car/mazda/carstate.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 18445d6b6cd544..6e1ad3e481a0c8 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ def __init__(self, CP): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = True + self.lkas_allowed_speed = False self.lkas_disabled = False def update(self, cp, cp_cam): @@ -70,8 +70,10 @@ def update(self, cp, cp_cam): # wait for LKAS_BLOCK signal to clear when going up since it lags behind the speed sometimes if speed_kph > LKAS_LIMITS.ENABLE_SPEED and not lkas_blocked: self.lkas_allowed_speed = True - elif speed_kph < LKAS_LIMITS.DISABLE_SPEED or lkas_blocked: + elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead From c8680833b86c685b89152b5d64a77dc3cdd702f6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 18:22:01 -0700 Subject: [PATCH 4/6] better --- selfdrive/car/mazda/carstate.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 6e1ad3e481a0c8..6f334bf1bd52ec 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ def __init__(self, CP): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = False + self.lkas_allowed_speed = self.CP.minSteerSpeed <= 0 self.lkas_disabled = False def update(self, cp, cp_cam): @@ -72,8 +72,6 @@ def update(self, cp, cp_cam): self.lkas_allowed_speed = True elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: self.lkas_allowed_speed = False - else: - self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead From bb2607852f83801d75d211588e72aae9044f2951 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Mar 2022 18:47:33 -0700 Subject: [PATCH 5/6] fix --- selfdrive/car/mazda/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 6f334bf1bd52ec..c33d1b03608d8c 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ def __init__(self, CP): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = self.CP.minSteerSpeed <= 0 + self.lkas_allowed_speed = CP.minSteerSpeed <= 0 self.lkas_disabled = False def update(self, cp, cp_cam): From abb86c934f035d2164aa14be787fe42b682657f9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Mar 2022 16:39:38 -0700 Subject: [PATCH 6/6] little more clear --- selfdrive/car/mazda/carstate.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index c33d1b03608d8c..6e1ad3e481a0c8 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -15,7 +15,7 @@ def __init__(self, CP): self.crz_btns_counter = 0 self.acc_active_last = False self.low_speed_alert = False - self.lkas_allowed_speed = CP.minSteerSpeed <= 0 + self.lkas_allowed_speed = False self.lkas_disabled = False def update(self, cp, cp_cam): @@ -72,6 +72,8 @@ def update(self, cp, cp_cam): self.lkas_allowed_speed = True elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead