fix: cruise faults should not disable silently#37557
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RJWadley wants to merge 4 commits intocommaai:masterfrom
Open
fix: cruise faults should not disable silently#37557RJWadley wants to merge 4 commits intocommaai:masterfrom
RJWadley wants to merge 4 commits intocommaai:masterfrom
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This PR has had no activity for 24 days. It will be automatically closed in 7 days if there is no activity. |
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I think this is a clean, simple fix, for an important issue, to make unexpected disengagements more noticeable to the driver. If it can, I think it should be implemented. |
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Process replay diff reportReplays driving segments through this PR and compares the behavior to master. ✅ 0 changed, 66 passed, 0 errors |
jyoung8607
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Apr 2, 2026
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LGTM at a glance, but need to review more in depth before merging. Rebased to keep the stalebot at bay.
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This PR has had no activity for 24 days. It will be automatically closed in 7 days if there is no activity. |
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Description
Bug:
When the ACC system faults,
USER_DISABLE(wrongCarMode) andIMMEDIATE_DISABLE(accFaulted) could both fire at the same time.USER_DISABLEwas checked first, which silences the critical "TAKE CONTROL IMMEDIATELY" alert in favor of a soft disengage chime.Fix:
Check
IMMEDIATE_DISABLEbeforeUSER_DISABLEso that if they fire at the same time, the more critical warning takes priority.Discussed in opendbc#2874
Verification
Drove routes with faults before and after.
Route
Route without fix:
8c4310d5aa130a2a/00000088--c64f683d2d/1Route with fix:
9feef6a0323edf69/00000109--9ff98faf4e/3