tesla_preap: chime pedal cruise on enableLongControl edges - #27
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daggerhashjack wants to merge 3 commits into
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daggerhashjack wants to merge 3 commits into
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Session-based chimes stayed armed while cruiseEnabled, so brake and first-pull to lat-only never played pedalCruiseDisabled, and re-engaging long never played pedalCruiseEnabled. Bind those events to the FSM long-control flag. Gas override still does not chime on pedal-up. Co-authored-by: Daggerhashimoto <daggerhashjack@users.noreply.github.com>
Point at the CarState field plus the drive/doors fixture so check_can_engage does not clear the FSM flag before publish. Co-authored-by: Daggerhashimoto <daggerhashjack@users.noreply.github.com>
The NAP fixture policy is an attested hash. Adding a CarState field broke every fixture_tool unit test. Chimes read the live FSM flag; old fixtures defaulting to false is fine. Co-authored-by: Daggerhashimoto <daggerhashjack@users.noreply.github.com>
daggerhashjack
marked this pull request as ready for review
August 29, 2026 02:24
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Already on nap-dev via the session latch (PR #26). Closing. |
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Description
Pedal engage/disengage chimes were keyed off
update_pedal_cruise_session, which stays true whilecruiseEnabledafter the first authority accept. Brake or first-pull dropsenableLongControland keeps cruise, so the session never went 1→0 andpedalCruiseDisablednever fired. Re-engaging long while cruise was already on never went 0→1 either.5570441 correctly stopped chiming gas override (authority drop / pedal-up). The session latch was too wide.
This binds
pedalCruiseEnabled/pedalCruiseDisabledtoenableLongControledges:enableLongControl0→1) → engage chimeenableLongControl1→0, cruise stays) → disengage chimeenableLongControlstays true → no extra chime (OVERRIDE prompt unchanged)Companion opendbc PR publishes
CarState.enableLongControl(FSM flag, not interceptor authority).Verification
Unit tests in
selfdrive/selfdrived/tests/test_preap_regen.py:Files / events
selfdrive/selfdrived/preap_regen.py—pedal_long_chimereplacesupdate_pedal_cruise_sessionselfdrive/selfdrived/selfdrived.py— fires existingpedalCruiseEnabled/pedalCruiseDisabledopendbc_repobump —CarState.enableLongControlpedalCruiseEnabled,pedalCruiseDisabledNo DAS spoof. No naponsp-dev / Sunny EPAS. No AGNOS / 0.11.1 merge.