From 4d03ee30894995a94b3fc39befeb099a256dad6b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 18 Feb 2023 21:17:13 -0500 Subject: [PATCH] Missed this oops --- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 3d9d2a8099..848aacda72 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -186,7 +186,7 @@ class CarController: # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: - can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.CP.carFingerprint)) + can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.CP)) # 5 Hz ACC options if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index ea9b22eb4f..3dfcafbf41 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -108,7 +108,7 @@ def create_clu11(packer, frame, clu11, button, CP): return packer.make_can_msg("CLU11", bus, values) -def create_lfahda_mfc(packer, enabled, car_fingerprint, hda_set_speed=0): +def create_lfahda_mfc(packer, enabled, CP, hda_set_speed=0): values = { "LFA_Icon_State": 2 if enabled else 0, "HDA_Active": 1 if hda_set_speed else 0, @@ -116,7 +116,7 @@ def create_lfahda_mfc(packer, enabled, car_fingerprint, hda_set_speed=0): "HDA_VSetReq": hda_set_speed, } - bus = 4 if car_fingerprint in CAN_CANFD_CAR else 0 + bus = 4 if CP.flags & HyundaiFlags.CAN_CANFD else 0 return packer.make_can_msg("LFAHDA_MFC", bus, values) def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):