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2024-04-30 10:27:10 -05:00
parent 3733baa671
commit 0e229c0b6d
3 changed files with 24 additions and 10 deletions
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16
panda/board/safety/safety_hyundai.h
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@@ -283,16 +283,16 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
if ((addr == 0x4F1) && !hyundai_longitudinal) {
int button = GET_BYTE(to_send, 0) & 0x7U;
// bool allowed_resume = (button == 1) && controls_allowed;
// bool allowed_cancel = (button == 4) && cruise_engaged_prev;
// if (!(allowed_resume || allowed_cancel)) {
// tx = false;
// }
// CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
if (!(button == 1 || button == 2 || button == 3)) {
bool allowed_resume = (button == 1) && controls_allowed;
bool allowed_cancel = (button == 4) && cruise_engaged_prev;
if (!(allowed_resume || allowed_cancel)) {
tx = false;
}
// CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
// if (!(button == 1 || button == 2 || button == 3)) {
// tx = false;
// }
}
return tx;