From 2cbb9776753cdc856643d6411551c21427d33a3f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 24 Apr 2024 00:26:47 -0400 Subject: [PATCH] not fully CAN --- selfdrive/car/hyundai/hyundaicanfd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 83a70eecd2..0cd9298f22 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -94,7 +94,7 @@ def create_lkas11_can_canfd(packer, CAN, frame, apply_steer, steer_req, "CR_Lkas_StrToqReq": apply_steer, "CF_Lkas_ActToi": steer_req, "CF_Lkas_ToiFlt": torque_fault, # seems to allow actuation on CR_Lkas_StrToqReq - "CF_Lkas_MsgCount": frame % 0x10, + "CF_Lkas_MsgCount": frame % 0xF, "CF_Lkas_FcwOpt_USM": 2 if enabled else 1, "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1), }