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Merge branch 'mads-hkg-available-fix' into master-dev-c3

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# Conflicts:
#	selfdrive/car/hyundai/carcontroller.py
#	selfdrive/car/hyundai/hyundaicanfd.py
This commit is contained in:
Jason Wen
2024-08-01 13:29:47 -04:00
parent 3f04a9872a 9aa452a3c6
commit 9d5c3e65b5
2 changed files with 3 additions and 3 deletions
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selfdrive/car/hyundai/carcontroller.py
+1 -1
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@@ -266,7 +266,7 @@ class CarController(CarControllerBase):
else:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
self.accel_last = accel
else:
selfdrive/car/hyundai/hyundaicanfd.py
+2 -2
View File
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@@ -132,7 +132,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1,
"MainMode_ACC": 1 if CS.mainEnabled else 0,
"StopReq": 1 if stopping else 0,
"aReqValue": a_val,
"aReqRaw": a_raw,