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is this radar data?

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This commit is contained in:
whoisdomi
2026-05-26 17:17:21 -05:00
committed by firestar5683
parent f819386399
commit ce5611f24c
2 changed files with 5 additions and 8 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+2 -6
View File
@@ -172,16 +172,12 @@ class CarInterface(CarInterfaceBase):
# Common longitudinal control setup
radar_config = get_radar_track_config(ret.carFingerprint)
radar_tracks_available = radar_config is not None and radar_config.start_addr in fingerprint[1]
radar_tracks_available = radar_config is not None and radar_config.start_addr in fingerprint[radar_config.bus]
ret.radarUnavailable = not radar_tracks_available
if ret.flags & HyundaiFlags.NON_SCC:
ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
# Keep Ioniq 6 radar tracks probe-only until a harness path can provide them reliably.
if candidate == CAR.HYUNDAI_IONIQ_6:
ret.radarUnavailable = True
# When longitudinal is enabled, we disable the ADAS ECU which stops radar messages.
elif ret.openpilotLongitudinalControl:
if ret.openpilotLongitudinalControl and not (candidate == CAR.HYUNDAI_IONIQ_6 and radar_tracks_available):
ret.radarUnavailable = True
ret.pcmCruise = not ret.openpilotLongitudinalControl
apply_platform_longitudinal_params(ret)
opendbc_repo/opendbc/car/hyundai/radar_interface.py
+3 -2
View File
@@ -21,12 +21,13 @@ class RadarTrackConfig:
start_addr: int
msg_count: int
radar_type: str
bus: int = 1
RADAR_TRACK_CONFIGS = {
HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30"),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35"),
HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0),
}
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
@@ -42,7 +43,7 @@ def get_radar_can_parser(CP, radar_config):
return None
messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
class RadarInterface(RadarInterfaceBase):