diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index b55888aa24..a8abf06eb1 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -208,6 +208,7 @@ def create_acc_commands_can_canfd(packer, CAN, enabled, accel, idx, lead_visible "JerkUpperLimit": 3.0, "JerkLowerLimit": 5 if enabled else 1, }), + ("SCC12", { "MainMode_ACC": 1, "TauGapSet": 4, @@ -217,10 +218,12 @@ def create_acc_commands_can_canfd(packer, CAN, enabled, accel, idx, lead_visible "ACCMode": 2 if enabled and long_override else 1 if enabled else 0, "StopReq": 1 if stopping else 0, }), + ("SCC14", { "ACC_ObjLatPos": 0, "ObjGap": 2 if lead_visible else 0, }), + ("FCA11", { "BYTE4": 0xC0, "BYTE5": 0x3F,