wip

selfdrive/car/hyundai/hyundaicanfd.py

@@ -22,6 +22,9 @@ class CanBus(CanBusBase):
     self._e += self.offset
     self._cam = 2 + self.offset
 
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
   @property
   def ECAN(self):
     return self._e
@@ -119,18 +122,19 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   values.update({
     "ACCMode": 4,
     "aReqRaw": 0.0,
-    "aReqValue": 0.0,
+    "aReqVClearpalue": 0.0,
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 # CLEARPILOT changed HDA icons
 # This doesn't appear to do anything on my tucson
 def create_lfahda_cluster(packer, CAN, enabled, lat_active):
+  no_lat_lane_change = self.params_memory.get_int("no_lat_lane_change", 1)
   values = {
     # 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
     # CP: Is this actually the wheel?  Might this be the HDA2 thing?
     "HDA_ICON": 0,  # Intention is to have this represent stock HDA mode
-    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,   
+    "LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,   
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)