From fac026084a2a74c17548c7fe68e568ae7a308122 Mon Sep 17 00:00:00 2001 From: Your Name Date: Fri, 3 May 2024 23:56:56 -0500 Subject: [PATCH] wip --- selfdrive/car/hyundai/carstate.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 2d78ac6..27e15a1 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/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