Allow brake hold (#34384)

* allow brake hold * rev
commaai · Jan 16, 2025 · 37b4e61 · 37b4e61
1 parent 0539df7
commit 37b4e61
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
@@ -191,7 +191,7 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
       events.add(EventName.brakeHold)
     if CS.parkingBrake:
       events.add(EventName.parkBrake)

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
@@ -634,8 +634,11 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   },
 
   EventName.brakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+    ET.WARNING: Alert(
+      "Press Resume to Exit Brake Hold",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.parkBrake: {