safety: add longitudinal pre-enable state for brake at a standstill#1123
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safety: add longitudinal pre-enable state for brake at a standstill#1123
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sshane
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Oct 28, 2022
board/safety.h
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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
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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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We've moved the car safety code into opendbc, please rebase and re-open your PR there! |
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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):