From 4935bde59cdcd57618459f16fd7666a86ba8f865 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 10 Apr 2021 18:29:57 -0700 Subject: [PATCH] hyundai: update steer warning (#19628) * update steer warning for hyundai * hyundai: add CF_Mdps_ToiFlt to steerWarning old-commit-hash: 71654f141bf0aa4042b584890911a86923a6efe6 --- selfdrive/car/hyundai/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b0803698bd..ce596d192b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -34,7 +34,7 @@ class CarState(CarStateBase): ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq'] ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq'] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0 + ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0 or cp.vl["MDPS12"]['CF_Mdps_ToiFlt'] != 0 # cruise state if self.CP.openpilotLongitudinalControl: @@ -194,7 +194,7 @@ class CarState(CarStateBase): ("CR_Mdps_StrColTq", "MDPS12", 0), ("CF_Mdps_ToiActive", "MDPS12", 0), ("CF_Mdps_ToiUnavail", "MDPS12", 0), - ("CF_Mdps_FailStat", "MDPS12", 0), + ("CF_Mdps_ToiFlt", "MDPS12", 0), ("CR_Mdps_OutTq", "MDPS12", 0), ("SAS_Angle", "SAS11", 0),