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2024-05-18 03:29:54 -05:00
parent 24152b27db
commit 2de40cc2f3
3 changed files with 8 additions and 6 deletions
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5
selfdrive/car/hyundai/carcontroller.py
View File

@@ -131,10 +131,9 @@ class CarController(CarControllerBase):
params_memory = Params("/dev/shm/params")
if params_memory.get_bool("CPTLkasButtonAction"):
params_memory.put_bool("CPTLkasButtonAction", False)
# can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
40, hud_control))
50, hud_control))
print("Debug cancel executed")
if self.CP.openpilotLongitudinalControl:
@@ -196,7 +195,7 @@ class CarController(CarControllerBase):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
print("Yes")
print("Cancel button go")
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
CS.lkas_trigger_result = 5
elif CC.cruiseControl.resume:

2
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -134,7 +134,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# This doesn't appear to do anything on my tucson
def create_lfahda_cluster(packer, CAN, enabled, lat_active):
values = {
"HDA_ICON": 0,
"HDA_ICON": 1,
"LFA_ICON": 2 if enabled else 1 if lat_active else 0
}

5
selfdrive/controls/controlsd.py
View File

@@ -1237,8 +1237,11 @@ class Controls:
def clearpilot_state_control(self, CC, CS):
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
# CC.cruiseControl.resume = True
# self.params_memory.put_bool("CPTLkasButtonAction", True)
if self.params_memory.get_bool("CPTLkasButtonAction", False):
self.params_memory.put_bool("CPTLkasButtonAction", True)
else:
self.params_memory.put_bool("CPTLkasButtonAction", False)
self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# CC.actuators.speed
# print ("Alive")