wip

selfdrive/car/hyundai/hyundaicanfd.py

@@ -275,6 +275,37 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
+
+def create_acc_control_alt(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+  jerk = 5
+  jn = jerk / 50
+  if not enabled or gas_override:
+    a_val, a_raw = 0, 0
+  else:
+    a_raw = accel
+    a_val = clip(accel, accel_last - jn, accel_last + jn)
+
+  values = {
+    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
+    "MainMode_ACC": 1,
+    "StopReq": 1 if stopping else 0,
+    "aReqValue": a_val,
+    "aReqRaw": a_raw,
+    "VSetDis": set_speed,
+    "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,
+
+    "ACC_ObjDist": 1,
+    "ObjValid": 0,
+    "OBJ_STATUS": 2,
+    "SET_ME_2": 0x4,
+    "SET_ME_3": 0x3,
+    "SET_ME_TMP_64": 0x64,
+    "DISTANCE_SETTING": hud_control.leadDistanceBars,
+  }
+
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
+
 # Disabled blinker messages
 def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   ret = []