tesla_preap: publish enableLongControl on CarState - #6
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daggerhashjack wants to merge 2 commits into
Closed
daggerhashjack wants to merge 2 commits into
daggerhashjack wants to merge 2 commits into
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Interceptor authority (pedalLongActive) drops on gas override while the FSM long flag stays true. Brake and first-pull drop the FSM flag while cruise stays. Publish enableLongControl so selfdrived can chime on those edges instead of the long-lived cruise session.
Empty CAN defaults doors to OPEN and gear to invalid, so check_can_engage cleared the FSM flag before CarState published it. Drive + closed doors keep the flag so the test can distinguish it from interceptor authority.
daggerhashjack
marked this pull request as ready for review
August 29, 2026 02:24
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Already covered on nap-dev. Closing. |
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Description
Publish the Pre-AP FSM
enableLongControlflag onCarStateso selfdrived can chime on long-control edges instead of interceptor authority or the long-lived cruise session.pedalLongActiveis accepted interceptor authority. Gas override drops that whileenableLongControlstays true. Brake and first-pull dropenableLongControlwhilecruiseEnabledstays. Those two cases are indistinguishable frompedalLongActive+cruiseState.enabledalone (pedal-up handshake looks the same as a lat-only drop).Companion openpilot change binds
pedalCruiseEnabled/pedalCruiseDisabledto this field.Verification
test_enable_long_control_publishes_fsm_flag_not_interceptor_authority(long on, authority off)test_nap_specific_fields_on_carstateNo DAS spoof. No naponsp-dev / Sunny EPAS. No AGNOS / 0.11.1.