From 3126714df6d321b323ff10cd9f1ca9c78a19ee7b Mon Sep 17 00:00:00 2001
From: Carlin Hefner <54586926+carleeno@users.noreply.github.com>
Date: Tue, 13 Aug 2024 14:18:42 -0600
Subject: [PATCH] Tesla: set enableBsm flag for 3 and Y (#403)

Set enableBsm flag for Tesla 3Y
---
 selfdrive/car/tesla/carstate.py  | 5 +++--
 selfdrive/car/tesla/interface.py | 1 +
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 4ec72a4f50..f08406b1ff 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -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)
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 33a92a48a2..9bac7ffe32 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -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