From 06ec786dc086729110b8517a0b11c5959ce5dde2 Mon Sep 17 00:00:00 2001 From: dzid26 Date: Sun, 22 Sep 2024 00:15:12 -0700 Subject: [PATCH] Match panda acc pedal safety --- panda | 2 +- selfdrive/car/bmw/carstate.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/panda b/panda index 34215e7b524a6b2..e1c90f3e48cf0a8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 34215e7b524a6b22ffbc72a629c4f94992a219fa +Subproject commit e1c90f3e48cf0a803195bd1f0a09588951de1416 diff --git a/selfdrive/car/bmw/carstate.py b/selfdrive/car/bmw/carstate.py index 59e09fa3b6efede..8cac5e2cfd197ba 100644 --- 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