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only set flag to false if no radar dbc assigned

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This commit is contained in:
Jason Wen
2024-05-24 01:56:36 -04:00
parent 096bc72465
commit a5e5e82d0d
1 changed files with 4 additions and 3 deletions
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selfdrive/car/hyundai/interface.py
+4 -3
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@@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase):
if 0x2AB in fingerprint[0]:
ret.spFlags |= HyundaiFlagsSP.SP_ENHANCED_SCC.value
ret.radarUnavailable = False
if 0x53E in fingerprint[2]:
ret.spFlags |= HyundaiFlagsSP.SP_LKAS12.value
@@ -94,14 +93,12 @@ class CarInterface(CarInterfaceBase):
ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
ret.radarUnavailable = False
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
if candidate in CAMERA_SCC_CAR:
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
ret.radarUnavailable = False
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -112,6 +109,10 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayLowerBound = 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5
if DBC[ret.carFingerprint]["radar"] is None:
if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
ret.radarUnavailable = False
# *** feature detection ***
if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]