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add always available for hyundai

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This commit is contained in:
Jason Wen
2024-11-12 17:53:25 -05:00
parent 81708364b8
commit e5a34e9023
1 changed files with 7 additions and 3 deletions
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sunnypilot/mads/mads.py
+7 -3
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@@ -19,11 +19,14 @@ class ModifiedAssistDrivingSystem:
self.main_enabled_toggle = True # TODO-SP: Apply with toggle
self.disengage_lateral_on_brake_toggle = False # TODO-SP: Apply with toggle
def update_availability(self, CS: car.CarState, available: bool = False) -> None:
def update_availability(self, CS: car.CarState, available: bool = False) -> bool:
if self.main_enabled_toggle:
available |= CS.cruiseState.available
self.available = available
if self.selfdrive.CP.carName == "hyundai":
available = True
return available
def update_events(self, CS: car.CarState):
self.selfdrive.events.remove(EventName.pcmEnable)
@@ -71,8 +74,9 @@ class ModifiedAssistDrivingSystem:
if not self.enabled_toggle:
return
self.available = self.update_availability(CS)
self.update_events(CS)
self.update_availability(CS)
if not self.selfdrive.CP.passive and self.selfdrive.initialized:
self.enabled, self.active = self.state_machine.update(self.selfdrive.events)