dont copy acc state from autopilot computer

commaai · Oct 14, 2024 · b8b3ae0 · b8b3ae0
1 parent 3fc9bdb
commit b8b3ae0
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
@@ -38,9 +38,7 @@ def update(self, CC, CS, now_nanos):
 
     # Longitudinal control
     if self.CP.openpilotLongitudinalControl and self.frame % 4 == 0:
-      state = CS.das_control["DAS_accState"]
-      if hands_on_fault:
-        state = 13  # "ACC_CANCEL_GENERIC_SILENT"
+      state = 4 if not hands_on_fault else 13  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
       cntr =  (self.frame // 4) % 8
       can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr))