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This commit is contained in:
firestar5683
2026-05-26 10:42:59 -05:00
parent dc91ac13b1
commit 13e4f301b9
2 changed files with 11 additions and 6 deletions
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selfdrive/ui/lib/starpilot_state.py
+1 -1
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@@ -163,7 +163,7 @@ class StarPilotState:
cp_flags = self._safe_get(CP, "flags", 0)
self.car_state.hasModeStarButtons = car_make == "hyundai" and bool(cp_flags & HyundaiFlags.CANFD)
self.car_state.lkasAllowedForAOL = (
(car_make == "hyundai" and bool(cp_flags & (HyundaiFlags.CANFD | HyundaiFlags.HAS_LDA_BUTTON))) or
(car_make == "hyundai" and (bool(cp_flags & HyundaiFlags.CANFD) or starpilot_toggles.get("lkas_allowed_for_aol", False))) or
car_make == "honda"
)
self.car_state.longitudinalActuatorDelay = float(self._safe_get(CP, "longitudinalActuatorDelay", self.car_state.longitudinalActuatorDelay))
starpilot/common/starpilot_variables.py
+10 -5
View File
@@ -16,7 +16,7 @@ from cereal import car, custom, log
from opendbc.car import gen_empty_fingerprint
from opendbc.car.car_helpers import interfaces
from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GMFlags
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.subaru.values import SubaruFlags
@@ -536,10 +536,15 @@ class StarPilotVariables:
latAccelFactor = CP.lateralTuning.torque.latAccelFactor
if not math.isfinite(latAccelFactor):
latAccelFactor = 0.0
toggle.lkas_allowed_for_aol = (
(toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)) or
toggle.car_make == "honda"
hyundai_has_lda_button = (
toggle.car_make == "hyundai" and
len(FPCP.safetyConfigs) > 0 and
bool(FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value)
)
hyundai_can_use_lkas_for_aol = toggle.car_make == "hyundai" and (
bool(CP.flags & HyundaiFlags.CANFD) or hyundai_has_lda_button
)
toggle.lkas_allowed_for_aol = hyundai_can_use_lkas_for_aol or toggle.car_make == "honda"
longitudinalActuatorDelay = CP.longitudinalActuatorDelay
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
if not toggle.redneck_cruise_available or toggle.openpilot_longitudinal:
@@ -549,7 +554,7 @@ class StarPilotVariables:
condition=toggle.redneck_cruise_available and not toggle.openpilot_longitudinal,
)
pcm_cruise = CP.pcmCruise
prohibited_main_aol = not toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
prohibited_main_aol = not toggle.openpilot_longitudinal and hyundai_can_use_lkas_for_aol
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay