Merge remote-tracking branch 'upstream/master' into deprecate-cs-events

commaai · Oct 2, 2024 · b8e0749 · b8e0749
2 parents 7119398 + 6f09270
commit b8e0749
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Showing 4 changed files with 6 additions and 10 deletions.
diff --git a/opendbc_repo b/opendbc_repo
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
@@ -45,7 +45,7 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
+    elif self.CP.carName in ('subaru', 'mazda'):
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
@@ -54,12 +54,6 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.out.lowSpeedAlert:
-        events.add(EventName.belowSteerSpeed)
-
     elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
 
@@ -212,6 +206,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
       events.add(EventName.vehicleSensorsInvalid)
     if CS.invalidLkasSetting:
       events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents:

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7
+c4d60dfe4b677f9230eebb47614501ea8d0b99a3