wip

openpilot/notes.txt

@@ -0,0 +1,2 @@
+bundefined signal aReqVClearpalue - 416
+undefined signal aReqVClearpalue - 416

selfdrive/car/hyundai/hyundaicanfd.py

@@ -99,6 +99,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
 #   return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
 
 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?
   if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
     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({
     "ACCMode": 4,
     "aReqRaw": 0.0,
-    "aReqVClearpalue": 0.0,
+    "aReqValue": 0.0,
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 

selfdrive/controls/controlsd.py

@@ -1230,12 +1230,15 @@ class Controls:
     self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable")
 
   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):
       exit() # Just cause a crash for testing
       self.events.add(EventName.clpDebug)
       # clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked")
       foo = "bar"
 
+
   def clearpilot_state_control(self, CC, CS):
     foo = "bar"