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Tesla: set enableBsm flag for 3 and Y (#403)

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Set enableBsm flag for Tesla 3Y
This commit is contained in:
Carlin Hefner
2024-08-13 14:18:42 -06:00
committed by GitHub
parent 86220b4327
commit 3126714df6
2 changed files with 4 additions and 2 deletions
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selfdrive/car/tesla/carstate.py
+3 -2
View File
@@ -86,8 +86,9 @@ class CarState(CarStateBase):
ret.seatbeltUnlatched = cp.vl["UI_warning"]["buckleStatus"] != 1
# Blindspot
ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearLeft"] != 0
ret.rightBlindspot = cp_cam.vl["DAS_status"]["DAS_blindSpotRearRight"] != 0
# AEB
ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
selfdrive/car/tesla/interface.py
+1
View File
@@ -31,6 +31,7 @@ class CarInterface(CarInterfaceBase):
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.openpilotLongitudinalControl = True
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
ret.enableBsm = True
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25