From 3b28a86e56aafe963fd43f17098177a4171fc8bb Mon Sep 17 00:00:00 2001 From: Martin Lillepuu Date: Sat, 29 Apr 2023 14:17:43 +0300 Subject: [PATCH] Subaru: Add FCW_Cont_Beep to stockFcw signals --- selfdrive/car/subaru/carstate.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index d21ab73ca8..d48e3af2cd 100644 --- 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)