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Honda Radarless: clean up disabled radar check (#26776)

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* exclude radarless cars

* this was never an issue, but clean up some stuff

* better

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 0aada196e0c0ec75d6d8a1b9d96c41576aff88a1
This commit is contained in:
royjr
2022-12-13 00:44:48 -05:00
committed by GitHub
parent c94365ea81
commit dac7e50493
1 changed files with 4 additions and 3 deletions
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selfdrive/car/honda/hondacan.py
+4 -3
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@@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint):
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
if radar_disabled:
no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
if radar_disabled or no_radar:
# when radar is disabled, steering commands are sent directly to powertrain bus
return get_pt_bus(car_fingerprint)
# normally steering commands are sent to radar, which forwards them to powertrain bus
@@ -104,7 +105,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
if CP.openpilotLongitudinalControl:
@@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
else:
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
if radar_disabled:
radar_hud_values = {
'CMBS_OFF': 0x01,
'SET_TO_1': 0x01,