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2024-05-04 00:49:51 -05:00
parent f3cdd57b41
commit 8514bcbdbb
1 changed files with 7 additions and 0 deletions
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7
selfdrive/car/hyundai/carstate.py
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@@ -58,6 +58,9 @@ class CarState(CarStateBase):
# FrogPilot variables # FrogPilot variables
self.main_enabled = False self.main_enabled = False
# Clearpilot variables
self.fix_main_enabled_check = True
def calculate_speed_limit(self, cp, cp_cam): def calculate_speed_limit(self, cp, cp_cam):
if self.CP.carFingerprint in CANFD_CAR: if self.CP.carFingerprint in CANFD_CAR:
speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam 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"]) 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: if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled 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"] 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 ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED