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comment out radar flag setting

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MoreTorque
2024-09-25 08:48:20 -05:00
committed by MoreTore
parent 5a51558557
commit 4d3ef7adbb
1 changed files with 10 additions and 10 deletions
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selfdrive/car/mazda/interface.py
+10 -10
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@@ -27,16 +27,16 @@ class CarInterface(CarInterfaceBase):
print("Torque Interceptor Installed")
ret.flags |= MazdaFlags.TORQUE_INTERCEPTOR.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_TORQUE_INTERCEPTOR
if p.get("RadarInterceptorEnabled"): # Radar Interceptor Installed
ret.flags |= MazdaFlags.RADAR_INTERCEPTOR.value
ret.experimentalLongitudinalAvailable = True
ret.radarUnavailable = False
ret.startingState = True
ret.longitudinalTuning.kpBP = [0., 5., 30.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 20., 30.]
ret.longitudinalTuning.kiV = [0.36, 0.23, 0.17, 0.1]
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_RADAR_INTERCEPTOR
# if p.get("RadarInterceptorEnabled"): # Radar Interceptor Installed
# ret.flags |= MazdaFlags.RADAR_INTERCEPTOR.value
# ret.experimentalLongitudinalAvailable = True
# ret.radarUnavailable = False
# ret.startingState = True
# ret.longitudinalTuning.kpBP = [0., 5., 30.]
# ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
# ret.longitudinalTuning.kiBP = [0., 5., 20., 30.]
# ret.longitudinalTuning.kiV = [0.36, 0.23, 0.17, 0.1]
# ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_RADAR_INTERCEPTOR
if p.get("NoMRCC"): # No Mazda Radar Cruise Control; Missing CRZ_CTRL signal
ret.flags |= MazdaFlags.NO_MRCC.value