Match panda acc pedal safety

dzid26 · Sep 22, 2024 · 06ec786 · 06ec786
1 parent 39a43ad
commit 06ec786
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diff --git a/panda b/panda
diff --git a/selfdrive/car/bmw/carstate.py b/selfdrive/car/bmw/carstate.py
@@ -46,6 +46,7 @@ def update(self, cp_PT, cp_F, cp_aux):
     ret.brakePressed = cp_PT.vl["EngineAndBrake"]['BrakePressed'] != 0
     ret.parkingBrake = cp_PT.vl["Status_contact_handbrake"]["Handbrake_pulled_up"] != 0
     ret.gas = cp_PT.vl['AccPedal']["AcceleratorPedalPercentage"]
+    # on some cars, when cruise is engaged, half pressed pedal becomes "KickDownPressed", even without pressing kickdown end stop
     ret.gasPressed = cp_PT.vl['AccPedal']["AcceleratorPedalPressed"] != 0 or cp_PT.vl['AccPedal']["KickDownPressed"] != 0
     self.gas_kickdown = cp_PT.vl['AccPedal']["KickDownPressed"] != 0 #BMW has kickdown button at the bottom of the pedal