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2024-02-16 20:10:55 -06:00
parent 38b37d25b2
commit c20342dfd0
4 changed files with 23 additions and 4 deletions
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6
selfdrive/car/hyundai/carcontroller.py
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@@ -10,6 +10,8 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarCon
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from openpilot.common.params import Params
from openpilot.common.watcher import Watcher
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -208,6 +210,10 @@ class CarController:
new_actuators.steerOutputCan = apply_steer
new_actuators.accel = accel
Watcher.log_watch("hyundai_carcontroller_update_CC", CC)
Watcher.log_watch("hyundai_carcontroller_update_CS", CS)
Watcher.log_watch("hyundai_carcontroller_update_self", self)
self.frame += 1
return new_actuators, can_sends