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DISCOVERY: force panda safety

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This commit is contained in:
Jason Wen
2023-02-19 21:08:04 -05:00
parent 5a5dc3f6c6
commit aeceac2b3d
1 changed files with 5 additions and 4 deletions
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selfdrive/car/hyundai/interface.py
+5 -4
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@@ -258,6 +258,11 @@ class CarInterface(CarInterfaceBase):
bus = 4 if ret.flags & HyundaiFlags.CAN_CANFD else 0
ret.enableBsm = 0x58b in fingerprint[bus]
#elif ret.flags & HyundaiFlags.CAN_CANFD:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundai)]
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
# *** panda safety config ***
if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
@@ -269,10 +274,6 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
elif ret.flags & HyundaiFlags.CAN_CANFD:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundai)]
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages