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2024-05-12 21:37:32 -05:00
parent 62115b2e34
commit b4120aed2e
3 changed files with 7 additions and 1 deletions
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2
openpilot/notes.txt Normal file
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@@ -0,0 +1,2 @@
bundefined signal aReqVClearpalue - 416
undefined signal aReqVClearpalue - 416

3
selfdrive/car/hyundai/hyundaicanfd.py
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@@ -99,6 +99,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
# return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values) # return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy): def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# why are we executing this at all?
# TODO: why do we copy different values here? # TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [ values = {s: cruise_info_copy[s] for s in [
@@ -124,7 +125,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
values.update({ values.update({
"ACCMode": 4, "ACCMode": 4,
"aReqRaw": 0.0, "aReqRaw": 0.0,
"aReqVClearpalue": 0.0, "aReqValue": 0.0,
}) })
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

3
selfdrive/controls/controlsd.py
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@@ -1230,12 +1230,15 @@ class Controls:
self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable") self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable")
def update_clearpilot_events(self, CS): def update_clearpilot_events(self, CS):
if (len(CS.buttonEvents) > 0):
print (CS.buttonEvents)
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
exit() # Just cause a crash for testing exit() # Just cause a crash for testing
self.events.add(EventName.clpDebug) self.events.add(EventName.clpDebug)
# clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked") # clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked")
foo = "bar" foo = "bar"
def clearpilot_state_control(self, CC, CS): def clearpilot_state_control(self, CC, CS):
foo = "bar" foo = "bar"