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Honda - set belowEngageSpeed for Nidec Hybrid brakehold #36121

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Honda - set belowEngageSpeed for Nidec Hybrid brakehold #36121

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08ef69a
set belowEngageSpeed for Nidec Hybrid
mvl-boston Sep 8, 2025
d8b4c66
Merge branch 'commaai:master' into hybrid-brakehold
mvl-boston Sep 18, 2025
ba2aa31
Merge branch 'commaai:master' into hybrid-brakehold
mvl-boston Sep 30, 2025
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3 changes: 3 additions & 0 deletions selfdrive/car/car_specific.py
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Expand Up @@ -77,6 +77,9 @@ def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
events.add(EventName.manualRestart)

if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
events.add(EventName.belowEngageSpeed)

elif self.CP.brand == 'toyota':
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
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