safety: add longitudinal pre-enable state for brake at a standstill #1123
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sshane
commented
Oct 28, 2022
board/safety.h
Outdated
| @@ -85,7 +85,7 @@ int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) { | |||
| } | |||
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| bool get_longitudinal_allowed(void) { | |||
| return controls_allowed && !gas_pressed_prev; | |||
| return controls_allowed && !gas_pressed_prev && !brake_pressed_prev; | |||
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Will need to allow braking on cars that are gas/brake controlled and not acceleration controlled.
On both GM and certain Honda, once you release the brake the car will lurch forward as openpilot's brake request ramps up.
sshane
changed the title
sshane
commented
Dec 1, 2022
sshane
commented
Dec 3, 2022
| return controls_allowed && !gas_pressed_prev; | ||
| } | ||
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| bool get_accel_allowed(void) { |
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let's make this name less ambiguous, such as gas
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Adds new pre-enable state when enabling at a standstill with brake depressed. Allows brake and negative accel to 0 accel, blocks positive accel, gas, interceptor.
Pre-reqs (so this change isn't unmaintainable):