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2024-05-12 22:18:57 -05:00
parent d228405bc8
commit f3d7cc5aa4
2 changed files with 5 additions and 4 deletions
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7
selfdrive/car/hyundai/carcontroller.py
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@@ -199,9 +199,10 @@ class CarController(CarControllerBase):
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) pass
self.last_button_frame = self.frame # can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
CS.lkas_trigger_result = 1 # self.last_button_frame = self.frame
# CS.lkas_trigger_result = 1
else: else:
for _ in range(20): for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))

2
selfdrive/controls/controlsd.py
View File

@@ -796,7 +796,7 @@ class Controls:
CC.angularVelocity = angular_rate_value CC.angularVelocity = angular_rate_value
CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) and self.CP.openpilotLongitudinalControl # IMPORTANT POSSIBLY PATCH needs and oplong
if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True CC.cruiseControl.cancel = True