From 5cf452acdd9799e1209e262d4f255ca5caa5f4b9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 26 Sep 2023 10:00:41 -0400 Subject: [PATCH] Hyundai: radar interface cleanup (#298) --- selfdrive/car/hyundai/radar_interface.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index bf08e2d130..d8d0f6c9b4 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -10,11 +10,11 @@ RADAR_MSG_COUNT = 32 def get_radar_can_parser(CP): - if (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None: - messages = ("ESCC", 50) - return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0) - else: - if DBC[CP.carFingerprint]['radar'] is None: + if DBC[CP.carFingerprint]['radar'] is None: + if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: + messages = ("ESCC", 50) + return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0) + else: return None messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]