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HKG: log accFaulted (#26785)

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log accFaulted for HKG
old-commit-hash: 6b36cfaf7e08fed204422f7faf37da1014d817c3
This commit is contained in:
Shane Smiskol
2022-12-13 00:37:13 -08:00
committed by GitHub
parent eaecbb8995
commit 9c576f2541
2 changed files with 3 additions and 7 deletions
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selfdrive/car/hyundai/carstate.py
+3 -4
View File
@@ -32,7 +32,6 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.is_metric = False
self.brake_error = False
self.buttons_counter = 0
self.cruise_info = {}
@@ -105,8 +104,9 @@ class CarState(CarStateBase):
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if self.CP.carFingerprint in HYBRID_CAR:
@@ -147,7 +147,6 @@ class CarState(CarStateBase):
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
@@ -213,7 +212,7 @@ class CarState(CarStateBase):
self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
self.brake_error = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
selfdrive/car/hyundai/interface.py
-3
View File
@@ -312,9 +312,6 @@ class CarInterface(CarInterfaceBase):
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True