Tesla: setSpeed to 0 if not active (commaai#1366)

* setSpeed to 0 if accel is 0 * setSpeed = 0 if not active
cydia2020 · Oct 14, 2024 · 336f677 · 336f677
1 parent 7aefdec
commit 336f677
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
@@ -41,7 +41,7 @@ def update(self, CC, CS, now_nanos):
       state = 4 if not hands_on_fault else 13  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
       cntr =  (self.frame // 4) % 8
-      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))
+      can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CC.longActive))
 
     # Increment counter so cancel is prioritized even without openpilot longitudinal
     if hands_on_fault and not self.CP.openpilotLongitudinalControl:

diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
@@ -24,9 +24,9 @@ def create_steering_control(self, angle, enabled, counter):
     values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
 
-  def create_longitudinal_command(self, acc_state, accel, cntr):
+  def create_longitudinal_command(self, acc_state, accel, cntr, active):
     values = {
-      "DAS_setSpeed": 0 if accel < 0 else V_CRUISE_MAX,
+      "DAS_setSpeed": 0 if (accel < 0 or not active) else V_CRUISE_MAX,
       "DAS_accState": acc_state,
       "DAS_aebEvent": 0,
       "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,