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Subaru: log stock FCW (#26012)

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* log stock FCW

* Update selfdrive/car/subaru/carstate.py

* never seen 1 (could be aeb?)
old-commit-hash: f31aa6853354226baada15f6a12b57f16bc3853b
This commit is contained in:
Shane Smiskol
2022-10-08 23:28:33 -07:00
committed by GitHub
parent 25869e45ce
commit d064794e80
1 changed files with 2 additions and 3 deletions
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selfdrive/car/subaru/carstate.py
+2 -3
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@@ -58,9 +58,6 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
if self.car_fingerprint not in PREGLOBAL_CARS:
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
(self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
ret.cruiseState.speed *= CV.MPH_TO_KPH
@@ -78,6 +75,8 @@ class CarState(CarStateBase):
else:
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam