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2024-02-04 22:15:38 -06:00
parent 6da89f020e
commit 76f2507503
3 changed files with 220 additions and 6 deletions
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12
selfdrive/car/hyundai/carcontroller.py
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@@ -113,14 +113,14 @@ class CarController:
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# MODIFIED BBOT
# if self.frame % 5 == 0 and hda2:
# can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
# self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# if self.frame % 5 == 0 and (not hda2 or hda2_long):
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: