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hyundai: update steer warning (#19628)

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* update steer warning for hyundai

* hyundai: add CF_Mdps_ToiFlt to steerWarning
old-commit-hash: 71654f141b
This commit is contained in:
Greg Hogan
2021-04-10 18:29:57 -07:00
committed by GitHub
parent 52d327f0ec
commit 4935bde59c
1 changed files with 2 additions and 2 deletions
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selfdrive/car/hyundai/carstate.py
+2 -2
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@@ -34,7 +34,7 @@ class CarState(CarStateBase):
ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0 or cp.vl["MDPS12"]['CF_Mdps_ToiFlt'] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
@@ -194,7 +194,7 @@ class CarState(CarStateBase):
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("SAS_Angle", "SAS11", 0),