From d6a5bd4c566dfd4c3558d4c8e290c997babac30c Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 18 May 2024 03:38:54 -0500 Subject: [PATCH] wip --- selfdrive/car/hyundai/carcontroller.py | 4 +++- selfdrive/controls/controlsd.py | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 2eb25f5..e0ffa28 100755 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -123,7 +123,9 @@ class CarController(CarControllerBase): if self.frame % 5 == 0 and (not hda2 or hda2_long): # CLEARPILOT TEST self.CS.lkas_enabled # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive)) - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled)) + params_memory = Params("/dev/shm/params") + lkas_icon = params_memory.get_bool("CPTLkasButtonAction") or CS.lkas_enabled + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, lkas_icon, lkas_icon)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 634ab48..6237be1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1242,7 +1242,7 @@ class Controls: self.params_memory.put_bool("CPTLkasButtonAction", False) else: self.params_memory.put_bool("CPTLkasButtonAction", True) - CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction") + # CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction") self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH ) # CC.actuators.speed