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IQ.Pilot Release Commit @ e46d557

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IQ.Lvbs CI [bot]
2026-08-07 00:13:39 -05:00
parent 03c3158b81
commit 824bb9ddfd
216 changed files with 7457 additions and 3151 deletions
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17
iqdbc_repo/iqdbc/car/tesla/carstate.py
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@@ -29,6 +29,8 @@ class CarState(CarStateBase, IQCarState):
self.hands_on_level = 0
self.acc_state_last = 0
self.das_accCancel = False
self.das_cancel_last = True
self.das_control = None
self.das_body_controls_dat = b""
self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
@@ -93,15 +95,24 @@ class CarState(CarStateBase, IQCarState):
cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None)
speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
acc_state = cp_ap_party.vl["DAS_control"]["DAS_accState"]
# Respect all stock DAS cancel states, not just ACC_CANCEL_GENERIC_SILENT(13).
# ELDA/ELK triggers ACC_CANCEL_GENERIC(0) which must also be forwarded.
self.das_accCancel = acc_state in (0, 1, 2, 12, 13, 14, 15)
summon_state = self.can_define.dv["DI_state"]["DI_autoparkState"].get(int(cp_party.vl["DI_state"]["DI_autoparkState"]), None)
cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
self.cruise_override = cruise_state in ("OVERRIDE")
self.update_summon_state(summon_state, cruise_enabled)
# Respect all stock DAS cancel states, not just ACC_CANCEL_GENERIC_SILENT(13).
# ELDA/ELK triggers ACC_CANCEL_GENERIC(0) which must also be forwarded.
# The stock AP is isolated from the party bus while the relay is closed, so its accState
# free-runs between ACC_ON and ACC_CANCEL_GENERIC. Only a rising edge while ACC is engaged
# is a real cancel; level-forwarding it pins DI_cruiseState to UNAVAILABLE and blocks engaging.
das_cancel = acc_state in (0, 1, 2, 12, 13, 14, 15)
if not cruise_enabled:
self.das_accCancel = False
elif das_cancel and not self.das_cancel_last:
self.das_accCancel = True
self.das_cancel_last = das_cancel
# Match panda safety cruise engaged logic
ret.cruiseState.enabled = cruise_enabled and not self.summon
if speed_units == "KPH":