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Hyundai longitudinal: display lead on HUD (#24667)

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* use leadVisible

* add comment
old-commit-hash: 5c5bb0be1197408ade793b49d731571ba831283a
This commit is contained in:
Shane Smiskol
2022-05-27 18:12:18 -07:00
committed by GitHub
parent a11084a6c6
commit b2196a160f
2 changed files with 4 additions and 5 deletions
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selfdrive/car/hyundai/carcontroller.py
+2 -3
View File
@@ -114,11 +114,10 @@ class CarController:
accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
lead_visible = False
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
set_speed_in_units, stopping, CS.out.gasPressed))
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed))
self.accel = accel
# 20 Hz LFA MFA message
selfdrive/car/hyundai/hyundaican.py
+2 -2
View File
@@ -86,8 +86,8 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
"TauGapSet": 4,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": 1 if lead_visible else 0,
"ACC_ObjStatus": 1 if lead_visible else 0,
"ObjValid": 0, # TODO: these two bits may allow for better longitudinal control
"ACC_ObjStatus": 0,
"ACC_ObjLatPos": 0,
"ACC_ObjRelSpd": 0,
"ACC_ObjDist": 0,