From 4cb5e99ab6b42957eb378f83a52c6b5993c4473d Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Wed, 11 Nov 2020 10:09:08 +1000 Subject: [PATCH] update logic --- selfdrive/car/hyundai/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 108712282..efe81ec23 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -206,11 +206,11 @@ class CarInterface(CarInterfaceBase): events = self.create_common_events(ret) #TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event - if dragonconf.dpAtl: + if not self.CS.lkMode: + events.add(car.CarEvent.EventName.manualSteeringRequired) + elif dragonconf.dpAtl: if ret.vEgo < self.CP.minSteerSpeed: events.add(car.CarEvent.EventName.belowSteerSpeed) - elif not self.CS.lkMode: - events.add(car.CarEvent.EventName.manualSteeringRequired) else: # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: