wip

selfdrive/car/hyundai/carstate.py

@@ -350,6 +350,7 @@ class CarState(CarStateBase):
 
     return ret
 
+  # BBOT does not work
   def calculate_speed_limit_canfd(self, CP, cp, cp_cam):
     try:
       self._speed_limit_clu = cp.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
@@ -456,6 +457,9 @@ class CarState(CarStateBase):
         ("BLINDSPOTS_REAR_CORNERS", 20),
       ]
 
+    # if CP.nav_msg:
+    messages.append(("CLUSTER_SPEED_LIMIT", 10))
+      
     if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
       messages += [
         ("SCC_CONTROL", 50),
@@ -474,7 +478,6 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
-    # if CP.nav_msg:
-    messages.append(("CLUSTER_SPEED_LIMIT", 10))
+
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)