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This commit is contained in:
Jason Wen
2024-04-23 16:20:32 -04:00
parent 7bffca40d8
commit 88ef06745d
1 changed files with 4 additions and 5 deletions
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selfdrive/car/hyundai/carstate.py
+4 -5
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@@ -158,8 +158,7 @@ class CarState(CarStateBase):
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
# save the entire LKAS11 and CLU11
if not (self.CP.flags & HyundaiFlags.CAN_CANFD and not self.CP.openpilotLongitudinalControl):
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
if self.CP.flags & HyundaiFlags.CAN_CANFD and self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x2a4"])
@@ -310,12 +309,12 @@ class CarState(CarStateBase):
if CP.carFingerprint in CANFD_CAR:
return CarState.get_cam_can_parser_canfd(CP)
messages = []
messages = [
("LKAS11", 100),
]
if CP.flags & HyundaiFlags.CAN_CANFD:
messages.append(("CAM_0x2a4", 20))
if not (CP.flags & HyundaiFlags.CAN_CANFD and not CP.openpilotLongitudinalControl):
messages.append(("LKAS11", 100))
if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
messages += [