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Subaru: longitudinal cleanup and dash status fixes (#30868)

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old-commit-hash: a58baf48fe9e951f5954fadbc2c4b2b118633493
This commit is contained in:
Justin Newberry
2023-12-29 23:47:55 -05:00
committed by GitHub
parent dd9118311b
commit 0312d3d0f3
1 changed files with 9 additions and 14 deletions
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selfdrive/car/subaru/subarucan.py
+9 -14
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@@ -48,8 +48,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
values["Cruise_Soft_Disable"] = 0
values["Cruise_Fault"] = 0
if brake_cmd:
values["Cruise_Brake_Active"] = 1
values["Cruise_Brake_Active"] = brake_cmd
if pcm_cancel_cmd:
values["Cruise_Cancel"] = 1
@@ -153,14 +152,14 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
values["COUNTER"] = frame % 0x10
if enabled and long_active:
if long_enabled:
values["Cruise_State"] = 0
values["Cruise_Activated"] = 1
values["Cruise_Activated"] = enabled
values["Cruise_Disengaged"] = 0
values["Car_Follow"] = int(lead_visible)
if long_enabled:
values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
values["LDW_Off"] = 0
values["Cruise_Fault"] = 0
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
@@ -186,15 +185,12 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak
if long_enabled:
values["Cruise_Brake_Fault"] = 0
values["Cruise_Activated"] = long_active
if long_active:
values["Cruise_Activated"] = 1
values["Brake_Pressure"] = brake_value
values["Brake_Pressure"] = brake_value
if brake_value > 0:
values["Cruise_Brake_Active"] = 1
values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0
values["Cruise_Brake_Active"] = brake_value > 0
values["Cruise_Brake_Lights"] = brake_value >= 70
return packer.make_can_msg("ES_Brake", CanBus.main, values)
@@ -216,8 +212,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
values["Cruise_RPM"] = cruise_rpm
values["Cruise_Fault"] = 0
if long_active:
values["Cruise_Activated"] = 1
values["Cruise_Activated"] = long_active
return packer.make_can_msg("ES_Status", CanBus.main, values)