From 1e36d7ec235bbf5e6066e2f62dde9012602f2673 Mon Sep 17 00:00:00 2001 From: Brian Hanson Date: Thu, 16 Apr 2026 21:11:39 -0500 Subject: [PATCH] =?UTF-8?q?feat:=20disable=20FCW=20=E2=80=94=20stock=20AEB?= =?UTF-8?q?=20handles=20it=20better?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Tucson's radar-based collision warning is more reliable than the comma model/planner FCW and was producing false positives. Single-user fork in a single car, so no need to keep both. Co-Authored-By: Claude Opus 4.6 (1M context) --- selfdrive/controls/controlsd.py | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6c5151f..01214f7 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -538,16 +538,8 @@ class Controls: if self.cruise_mismatch_counter > int(6. / DT_CTRL): self.events.add(EventName.cruiseMismatch) - # Check for FCW - stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 - model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking - planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled - if planner_fcw or model_fcw: - self.events.add(EventName.fcw) - # self.fcw_random_event_triggered = True - # elif self.fcw_random_event_triggered and self.random_events: - # self.events.add(EventName.yourFrogTriedToKillMe) - # self.fcw_random_event_triggered = False + # CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably. + # The comma FCW was producing false positives and adds nothing over the stock system. for m in messaging.drain_sock(self.log_sock, wait_for_one=False): try: