MADS: set flag for minEnableSpeed > 0 cars (commaai#245)

Author: sunnyhaibin

selfdrive/car/honda/interface.py

@@ -387,7 +387,9 @@ def _update(self, c):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
+    ret, self.CS = self.get_sp_common_state(ret, self.CS,
+                                            min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
+                                            gap_button=(self.CS.cruise_setting == 3))
 
     ret.buttonEvents = buttonEvents
 

selfdrive/car/interfaces.py

@@ -409,9 +409,10 @@ def get_sp_cruise_main_state(self, cs_out, CS):
 
     return mads_enabled
 
-  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or \
-                                                  (self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed) else cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
+                                 cs_out.cruiseState.enabled
+
     if not self.enable_mads:
       if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
         CS.madsEnabled = True