Don't disengage on gas

Author: sshane

selfdrive/boardd/boardd.cc

@@ -105,7 +105,7 @@ void safety_setter_thread() {
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
-  panda->set_unsafe_mode(0);  // see safety_declarations.h for allowed values
+  panda->set_unsafe_mode(1);  // see safety_declarations.h for allowed values
 
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);

selfdrive/car/interfaces.py

@@ -22,6 +22,7 @@ class CarInterfaceBase():
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
     self.VM = VehicleModel(CP)
+    self.disengage_on_gas = False
 
     self.frame = 0
     self.low_speed_alert = False
@@ -106,7 +107,7 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.gasPressed:
+    if cs_out.gasPressed and self.disengage_on_gas:
       events.add(EventName.gasPressed)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
@@ -125,7 +126,7 @@ def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
+    if (self.disengage_on_gas and cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)