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feat: disable FCW — stock AEB handles it better

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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) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-16 21:11:39 -05:00
parent 6f3b1b1d2f
commit 1e36d7ec23
1 changed files with 2 additions and 10 deletions
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12
selfdrive/controls/controlsd.py
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@@ -538,16 +538,8 @@ class Controls:
if self.cruise_mismatch_counter > int(6. / DT_CTRL): if self.cruise_mismatch_counter > int(6. / DT_CTRL):
self.events.add(EventName.cruiseMismatch) self.events.add(EventName.cruiseMismatch)
# Check for FCW # CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably.
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 # The comma FCW was producing false positives and adds nothing over the stock system.
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
for m in messaging.drain_sock(self.log_sock, wait_for_one=False): for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
try: try: