wip

selfdrive/car/hyundai/carcontroller.py

@@ -199,9 +199,9 @@ class CarController(CarControllerBase):
         # cruise cancel
         if CC.cruiseControl.cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            pass
-            # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
-            # self.last_button_frame = self.frame
+            # pass
+            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
+            self.last_button_frame = self.frame
             # CS.lkas_trigger_result = 1
           else:
             for _ in range(20):

selfdrive/car/hyundai/hyundaicanfd.py

@@ -123,7 +123,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
       "CRUISE_STANDSTILL",
     ]}
   values.update({
-    "ACCMode": 4,
+    "ACCMode": 1, # testing 1 instead of 4
     "aReqRaw": 0.0,
     "aReqValue": 0.0,
   })