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[HKG-CAN] Consider FCW alerts from SCC (#30885)

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* FCW is triggered differently when SCC is active

* Update selfdrive/car/hyundai/carstate.py

* Update selfdrive/car/hyundai/carstate.py

* cmt

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
DevTekVE
2024-01-04 04:34:13 +01:00
committed by GitHub
parent 115047d858
commit 28cf3155e2
1 changed files with 2 additions and 1 deletions
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selfdrive/car/hyundai/carstate.py
+2 -1
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@@ -147,8 +147,9 @@ class CarState(CarStateBase):
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = aeb_warning and not aeb_braking
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
if self.CP.enableBsm: