mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-21 22:12:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

Acura ILX steer fault fix: send STEER_TORQUE_REQUEST = 0 when temp faults are present (#264)

Browse Source
This commit is contained in:
rbiasini
2018-06-17 23:35:05 -07:00
committed by GitHub
parent ae5cb7a0da
commit fd2bead226
2 changed files with 5 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carcontroller.py
+2 -3
View File
@@ -132,15 +132,14 @@ class CarController(object):
apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
# any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
if CS.steer_not_allowed:
apply_steer = 0
lkas_active = enabled and not CS.steer_not_allowed
# Send CAN commands.
can_sends = []
# Send steering command.
idx = frame % 4
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, enabled, CS.CP.carFingerprint, idx))
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
# Send dashboard UI commands.
if (frame % 10) == 0:
selfdrive/car/honda/hondacan.py
+3 -3
View File
@@ -63,11 +63,11 @@ def create_gas_command(packer, gas_amount, idx):
return packer.make_can_msg("GAS_COMMAND", 0, values, idx)
def create_steering_control(packer, apply_steer, enabled, car_fingerprint, idx):
def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx):
"""Creates a CAN message for the Honda DBC STEERING_CONTROL."""
values = {
"STEER_TORQUE": apply_steer,
"STEER_TORQUE_REQUEST": enabled,
"STEER_TORQUE": apply_steer if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active,
}
# Set bus 2 for accord and new crv.
bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0