we need this to start off, unless we set multiplexing immediately

2 years ago · 03779b6f0d
parent 9a9c402991
commit 03779b6f0d
1 changed files with 6 additions and 0 deletions
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -113,6 +113,12 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
    return false;
  }

+  // set to ELM327 for fingerprinting
+  for (int i = 0; i < pandas.size(); i++) {
+    const uint16_t safety_param = (i > 0) ? 1U : 0U;
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+  }
+
  // openpilot can switch between multiplexing modes for different FW queries,
  // set to ELM327 and wait for FW query to finish
  while (true) {