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radar errors: only gate enable if openpilot long (#38145)

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only prevent engagement for op long cars
This commit is contained in:
Shane Smiskol
2026-06-09 16:56:48 -07:00
committed by GitHub
parent 24d373062d
commit 433c52f623
1 changed files with 7 additions and 6 deletions
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selfdrive/selfdrived/selfdrived.py
+7 -6
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@@ -331,12 +331,13 @@ class SelfdriveD:
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
self.events.add(EventName.selfdrivedLagging)
if self.sm['radarState'].radarErrors.canError:
self.events.add(EventName.canError)
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
self.events.add(EventName.radarTempUnavailable)
elif any(self.sm['radarState'].radarErrors.to_dict().values()):
self.events.add(EventName.radarFault)
if self.CP.openpilotLongitudinalControl:
if self.sm['radarState'].radarErrors.canError:
self.events.add(EventName.canError)
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
self.events.add(EventName.radarTempUnavailable)
elif any(self.sm['radarState'].radarErrors.to_dict().values()):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
if CS.canTimeout: