Ford: fix gas/brake cmd in tests

commaai · Jan 17, 2022 · 6fe4ecd · 6fe4ecd
1 parent 52c6a26
commit 6fe4ecd
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -50,8 +50,8 @@ def setUp(self):
   # Driver brake pedal
   def _brake_msg(self, brake):
     # brake pedal and cruise state share same message, so we have to send
-    # the cruise state signal too
-    enable = self.safety.get_cruise_engaged_prev()
+    # the other signal too (use prev value)
+    enable = self.safety.get_controls_allowed()
     values = {
       "BpedDrvAppl_D_Actl": 2 if brake else 1,
       "CcStat_D_Actl": 5 if enable else 0,
@@ -70,7 +70,11 @@ def _gas_msg(self, gas):
 
   # Cruise status
   def _pcm_status_msg(self, enable):
+    # brake pedal and cruise state share same message, so we have to send
+    # the other signal too (use prev value)
+    brake = self.safety.get_brake_pressed_prev()
     values = {
+      "BpedDrvAppl_D_Actl": 2 if brake else 1,
       "CcStat_D_Actl": 5 if enable else 0,
     }
     return self.packer.make_can_msg_panda("EngBrakeData", 0, values)