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2024-05-03 23:56:56 -05:00
parent 355a790b8a
commit fac026084a
1 changed files with 3 additions and 0 deletions
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selfdrive/car/hyundai/carstate.py
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@@ -61,6 +61,7 @@ class CarState(CarStateBase):
def calculate_speed_limit(self, cp, cp_cam): def calculate_speed_limit(self, cp, cp_cam):
if self.CP.carFingerprint in CANFD_CAR: if self.CP.carFingerprint in CANFD_CAR:
speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam 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"] return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
else: else:
if "SpeedLim_Nav_Clu" not in cp.vl["Navi_HU"]: 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 # prev_cruise_buttons = 0 (none), 1, 2 - up down
# new lane change works perfect # new lane change works perfect
# need to auto disable lat on turn lower than 20 + turn signal as default # 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 self.lkas_enabled = lkas_enabled