Subaru: ignore eyesight faults when openpilot is controlling long (co…

…mmaai#30390) ignore eyesight faults
andiradulescu · Nov 23, 2023 · f845c69 · f845c69
1 parent 8d3bf1f
commit f845c69
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Showing 2 changed files with 13 additions and 6 deletions.
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
@@ -95,8 +95,8 @@ def update(self, CC, CS, now_nanos):
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
-                                                        CC.longActive, hud_control.leadVisible))
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
+                                                        self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible))
 
         can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
@@ -110,7 +110,8 @@ def update(self, CC, CS, now_nanos):
           can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
                                                       self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg,
+                                                     self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake))
 
           can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))

diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
@@ -46,6 +46,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
 
     # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long
     values["Cruise_Soft_Disable"] = 0
+    values["Cruise_Fault"] = 0
 
     if brake_cmd:
       values["Cruise_Brake_Active"] = 1
@@ -160,14 +161,15 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   if long_enabled:
     values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
+    values["Cruise_Fault"] = 0
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if values["LKAS_State_Msg"] in (2, 3):
     values["LKAS_State_Msg"] = 0
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
-def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
     "Signal1",
@@ -182,8 +184,11 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
 
   values["COUNTER"] = frame % 0x10
 
-  if enabled:
-    values["Cruise_Activated"] = 1
+  if long_enabled:
+    values["Cruise_Brake_Fault"] = 0
+
+    if long_active:
+      values["Cruise_Activated"] = 1
 
   values["Brake_Pressure"] = brake_value
 
@@ -210,6 +215,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
 
   if long_enabled:
     values["Cruise_RPM"] = cruise_rpm
+    values["Cruise_Fault"] = 0
 
     if long_active:
       values["Cruise_Activated"] = 1