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try this out (pls don't die)

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Jason Wen
2024-07-21 17:41:16 -04:00
parent 5f2c104ae5
commit b32b216a6b
1 changed files with 3 additions and 3 deletions
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selfdrive/car/hyundai/hyundaican.py
+3 -3
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@@ -130,7 +130,7 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
CS, escc, CP, lead_distance, cb_lower, cb_upper):
commands = []
@@ -150,8 +150,8 @@ def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud
scc12_values = {
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
"StopReq": 1 if stopping else 0,
"aReqRaw": accel,
"aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
"aReqRaw": accel_raw,
"aReqValue": accel_val, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
"CR_VSM_Alive": idx % 0xF,
}