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does not matter freq

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This commit is contained in:
Jason Wen
2024-04-27 12:53:42 -04:00
parent c1ce6cd7a0
commit 45022daa91
1 changed files with 1 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+1 -1
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@@ -133,10 +133,10 @@ class CarController(CarControllerBase):
if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame, can_canfd_hybrid))
if can_canfd_hybrid:
stopping = stopping and CS.out.vEgoRaw < 0.1
can_sends.extend(hyundaicanfd.create_radar_aux_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
if can_canfd_hybrid:
stopping = stopping and CS.out.vEgoRaw < 0.1
upper_jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
can_sends.extend(hyundaicanfd.create_acc_commands_can_canfd_hybrid(self.packer, self.CAN, CC.enabled, accel, self.accel_last, upper_jerk,
int(self.frame / 2), hud_control.leadVisible,