controls: only send cruise cancel while cruise is enabled (commaai#22359

)

* controls: only send cruise cancel while cruise is enabled

* cleanup

* might actually do something

* update refs

* update refs again

* update refs

selfdrive/car/honda/carcontroller.py

@@ -122,15 +122,6 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
     # *** apply brake hysteresis ***
     pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
 
-    # *** no output if not enabled ***
-    if not enabled and CS.out.cruiseState.enabled:
-      # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
-      pcm_cancel_cmd = True
-
-    # Never send cancel command if we never enter cruise state (no cruise if pedal)
-    # Cancel cmd causes brakes to release at a standstill causing grinding
-    pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.pcmCruise
-
     # *** rate limit after the enable check ***
     self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 

selfdrive/car/toyota/carcontroller.py

@@ -75,8 +75,9 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
     else:
       apply_steer_req = 1
 
+    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
+    # than CS.cruiseState.enabled. confirm they're not meaningfully different
     if not enabled and CS.pcm_acc_status:
-      # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request

selfdrive/controls/controlsd.py

@@ -525,7 +525,7 @@ def publish_logs(self, CS, start_time, actuators, lac_log):
     CC.enabled = self.enabled
     CC.actuators = actuators
 
-    CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2282e3f208438237fe61d7bf636d6ad6b507c571
+859486fc7698fc2c0de0b52854a38e6c08954204