Add EnableGasPedal (toggle menu)

cfranyota · Aug 23, 2021 · 9b45eb1 · 9b45eb1
1 parent 4e9ac3b
commit 9b45eb1
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Showing 4 changed files with 13 additions and 3 deletions.
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -90,7 +90,7 @@ void safety_setter_thread() {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
-  panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+  panda->set_unsafe_mode(1);  // see safety_declarations.h for allowed values
 
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -4,6 +4,7 @@
 
 from cereal import car
 from common.kalman.simple_kalman import KF1D
+from common.params import Params
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.config import Conversions as CV
@@ -100,6 +101,7 @@ def apply(self, c):
 
   def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
     events = Events()
+    enable_gas_pedal = Params().get_bool('EnableGasPedal')
 
     if cs_out.doorOpen:
       events.add(EventName.doorOpen)
@@ -114,7 +116,7 @@ def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pc
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.gasPressed:
+    if cs_out.gasPressed and not enable_gas_pedal:
       events.add(EventName.gasPressed)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
@@ -142,7 +144,7 @@ def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pc
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
+    if (not enable_gas_pedal and cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)
 

diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
@@ -157,6 +157,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
+    {"EnableGasPedal", PERSISTENT},  
     {"EndToEndToggle", PERSISTENT},
     {"CompletedTrainingVersion", PERSISTENT},
     {"DisablePowerDown", PERSISTENT},

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -80,6 +80,13 @@ TogglesPanel::TogglesPanel(QWidget *parent) : QWidget(parent) {
                                   "../assets/offroad/icon_road.png",
                                   this));
 
+  // DAEHAHN - added a new feature to system toggle
+  toggles.append(new ParamControl("EnableGasPedal",  
+                                  "Enable to use Gas Pedal",
+                                  "Enable to use gas pedal while Openpilot engaged.",
+                                  "../assets/offroad/icon_openpilot.png",
+                                  this));
+
 #ifdef ENABLE_MAPS
   toggles.append(new ParamControl("NavSettingTime24h",
                                   "Show ETA in 24h format",