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2024-05-18 03:38:54 -05:00
parent 62c1cbc957
commit d6a5bd4c56
2 changed files with 4 additions and 2 deletions
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4
selfdrive/car/hyundai/carcontroller.py
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@@ -123,7 +123,9 @@ class CarController(CarControllerBase):
if self.frame % 5 == 0 and (not hda2 or hda2_long): if self.frame % 5 == 0 and (not hda2 or hda2_long):
# CLEARPILOT TEST self.CS.lkas_enabled # 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, 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 # blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:

2
selfdrive/controls/controlsd.py
View File

@@ -1242,7 +1242,7 @@ class Controls:
self.params_memory.put_bool("CPTLkasButtonAction", False) self.params_memory.put_bool("CPTLkasButtonAction", False)
else: else:
self.params_memory.put_bool("CPTLkasButtonAction", True) 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 ) self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# CC.actuators.speed # CC.actuators.speed