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2024-05-05 05:10:06 -05:00
parent 38fb8ffde0
commit f015a8368b
11 changed files with 89 additions and 34 deletions
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14
selfdrive/car/hyundai/carstate.py
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@@ -277,6 +277,20 @@ class CarState(CarStateBase):
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.prev_main_buttons = self.main_buttons[-1]
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
# testme
# if ret.cruiseState.speed > 1 and self.main_enabled == False:
# self.main_enabled = True
# test if this blocks trying to engage while pressin brakes
if self.main_buttons[-1] != 0 and ret.brakePressed and self.main_enabled == False:
self.main_buttons[-1] = 0
# But enable always on lateral if self.main_enabled = false
# I think this may require an override variable?
# It looks like always on lat is only set when cruise control is enabled
# We need a temp version that enables or disables it if cruise is off via button
# and then the temp state removes when the button is pressed again
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# if self.fix_main_enabled_check: