From f02c4007d4b2313f0cdda48984f65477cbcd202f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 23 May 2024 17:50:35 -0400 Subject: [PATCH] Hyundai CAN Longitudinal: Lenient parsing for auto-enabled radar configs --- selfdrive/car/hyundai/radar_interface.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index e470011737..71715ba687 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -48,6 +48,8 @@ class RadarInterface(RadarInterfaceBase): self.radar_off_can = CP.radarUnavailable self.rcp = get_radar_can_parser(CP) + self.sp_radar_tracks = CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS + def update(self, can_strings): if self.radar_off_can or (self.rcp is None): return super().update(None) @@ -70,7 +72,7 @@ class RadarInterface(RadarInterfaceBase): errors = [] - if not self.rcp.can_valid: + if not self.rcp.can_valid and not self.sp_radar_tracks: errors.append("canError") ret.errors = errors