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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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4
selfdrive/car/hyundai/carcontroller.py
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@@ -121,7 +121,9 @@ class CarController(CarControllerBase):
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
# CLEARPILOT TEST self.CS.lkas_enabled
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: