Subaru: Add FCW_Cont_Beep to stockFcw signals

2 years ago · 3b28a86e56
parent d15559e317
commit 3b28a86e56
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@ -76,7 +76,8 @@ class CarState(CarStateBase):
      ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
      ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
      ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
+      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
+                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
      ret.stockAeb = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 5) or \
                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert_Msg"] == 6)