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2024-04-29 19:40:22 -05:00
parent 3fb1bac8f8
commit 1847dc78e3
3 changed files with 18 additions and 4 deletions
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11
panda/board/safety/safety_hyundai.h
View File

@@ -283,9 +283,14 @@ 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)) {
// 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;
}
}

1
panda/board/safety/safety_hyundai_canfd.h
View File

@@ -243,6 +243,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
}
// cruise buttons check
// CLEARPILOT - TODO - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
if (addr == 0x1cf) {
int button = GET_BYTE(to_send, 2) & 0x7U;
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);

10
selfdrive/car/hyundai/carstate.py
View File

@@ -278,7 +278,15 @@ class CarState(CarStateBase):
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
# CLEARPILOT fix
lkas_enabled = False
try:
lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
except:
nothing = 0
self.lkas_enabled = lkas_enabled
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)