wip

selfdrive/car/hyundai/carstate.py

@@ -58,6 +58,9 @@ class CarState(CarStateBase):
     # FrogPilot variables
     self.main_enabled = False
 
+    # Clearpilot variables
+    self.fix_main_enabled_check = True
+
   def calculate_speed_limit(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
       speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
@@ -272,6 +275,10 @@ class CarState(CarStateBase):
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
+    if self.fix_main_enabled_check:
+      self.fix_main_enabled_check = False
+      if ret.cruiseState.speed > 1 and self.main_enabled == False
+        self.main_enabled = True
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED