From 433c52f6237fb8dc934feac4c4b9da814200bc30 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 9 Jun 2026 16:56:48 -0700 Subject: [PATCH] radar errors: only gate enable if openpilot long (#38145) only prevent engagement for op long cars --- selfdrive/selfdrived/selfdrived.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index d2fd0f099e..e376ea5c9c 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -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: