From b32b216a6b411fa8ee224df2e398a6a166b33097 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 21 Jul 2024 17:41:16 -0400 Subject: [PATCH] try this out (pls don't die) --- selfdrive/car/hyundai/hyundaican.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index f3776c46ef..58b05d708a 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -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, }