tesla: fix standstill

commaai · Nov 5, 2024 · feef84e · feef84e
1 parent cf2f64f
commit feef84e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
@@ -22,7 +22,6 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
     # Vehicle speed
     ret.vEgoRaw = cp.vl["DI_speed"]["DI_vehicleSpeed"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = cp.vl["DI_state"]["DI_vehicleHoldState"] == 3
 
     # Gas pedal
     pedal_status = cp.vl["DI_systemStatus"]["DI_accelPedalPos"]
@@ -56,6 +55,7 @@ def update(self, cp, cp_cam, *_) -> structs.CarState:
       ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
     ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
     ret.cruiseState.standstill = False  # This needs to be false, since we can resume from stop without sending anything special
+    ret.standstill = cruise_state == "STANDSTILL"
 
     # Gear
     ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_systemStatus"]["DI_gear"].get(int(cp.vl["DI_systemStatus"]["DI_gear"]), "DI_GEAR_INVALID")]