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2024-02-08 14:55:48 -06:00
parent 8d971f0671
commit 52c28f6710
1 changed files with 1 additions and 2 deletions
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selfdrive/car/hyundai/carcontroller.py
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@@ -154,8 +154,6 @@ class CarController:
if not self.CP.openpilotLongitudinalControl: if not self.CP.openpilotLongitudinalControl:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True)) can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
if not self.CP.openpilotLongitudinalControl and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed # TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
@@ -177,6 +175,7 @@ class CarController:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
# CSLC # CSLC
# if not self.CP.openpilotLongitudinalControl and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
# if False and not self.CP.openpilotLongitudinalControl and CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE: # if False and not self.CP.openpilotLongitudinalControl and CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
# # cslcSetSpeed = get_set_speed(self, hud_v_cruise) # # cslcSetSpeed = get_set_speed(self, hud_v_cruise)
# cslcSetSpeed = set_speed_in_units # cslcSetSpeed = set_speed_in_units