Tesla: fix disengagement without stalk #2182
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FSD always sets this value to 13 BTW even while engaged (not sure how that works), so we need to check that it doesn't ever set it to 13 for other reasons as you suspected. |
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This is a stock route with Autopilot: f15cb91e37913f92/00000006--3fc2538b96 |
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On Tesla models without a cruise control 8000 stalk, the steering wheel scroll wheel is used to engage and disengage.
Unlike the stalk, pressing the scroll wheel button doesn't change the DI_state. This meant that pressing the scroll wheel button currently does not disengage openpilot, whenever openpilot's longitudinal control is enabled
When the scroll wheel button is pressed to cancel ACC, DAS_accState becomes 13.
We have to listen to DAS_accState sent by the autopilot computer and add it to the cancel condition, to ensure that openpilot correctly disengages on a scroll wheel button press.
The screenshot shows several button presses, but the DI_State does not change.
route: f15cb91e37913f92/00000002--ee7e5b52c1
We need to make sure that ACC_CANCEL_GENERIC_SILENT (state 13) is not sent by the autopilot computer in other scenarios where we don't want to disengage.