wip

selfdrive/car/hyundai/carstate.py

@@ -61,6 +61,7 @@ class CarState(CarStateBase):
   def calculate_speed_limit(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
       speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      print(speed_limit_bus, sys.stderr)
       return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
     else:
       if "SpeedLim_Nav_Clu" not in cp.vl["Navi_HU"]:
@@ -297,6 +298,8 @@ class CarState(CarStateBase):
     # prev_cruise_buttons = 0 (none), 1, 2 - up down
     # new lane change works perfect
     # need to auto disable lat on turn lower than 20 + turn signal as default
+    # ret: cruiseState.speed > 0 = and cruiseState.enabled = false = idle cruise.
+    # press cruise to cancel it if not op engaged
 
     self.lkas_enabled = lkas_enabled