From aeceac2b3d5fc6808f04d24eab0595257fedffbd Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 19 Feb 2023 21:08:04 -0500 Subject: [PATCH] DISCOVERY: force panda safety --- selfdrive/car/hyundai/interface.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 431b9d0740..8f15bd1e7e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -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