From 45022daa91ca50760b66e066ac745c19da7a9bc5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 27 Apr 2024 12:53:42 -0400 Subject: [PATCH] does not matter freq --- selfdrive/car/hyundai/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index f7caa5ab85..481268bd3f 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -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,