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Ford: send empty LKA message (#27094)

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Eradication
old-commit-hash: 23298615561b5c8d41df009ba27ac01845c2abe5
This commit is contained in:
Shane Smiskol
2023-01-25 21:01:32 -08:00
committed by GitHub
parent 7ce54c355d
commit 7d76f08e01
1 changed files with 2 additions and 11 deletions
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selfdrive/car/ford/fordcan.py
+2 -11
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@@ -6,23 +6,14 @@ HUDControl = car.CarControl.HUDControl
def create_lka_msg(packer):
"""
Creates a CAN message for the Ford LKA Command.
Creates an empty CAN message for the Ford LKA Command.
This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
Frequency is 20Hz.
"""
values = {
"LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3]
"LkaActvStats_D2_Req": 0, # action [0|7]
"LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees
"LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick
"LaCurvature_No_Calc": 0, # curvature [-0.01024|0.01023] 1/meter
"LdwActvStats_D_Req": 0, # LDW status [0|7]
"LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength
}
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values)
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float,