From 5a0ebad66c4dcd33ee4eb5d0c5d3f036244653e2 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Wed, 31 Jan 2024 19:11:09 -0700 Subject: [PATCH] REVERTME: check unsupported and fault status --- selfdrive/car/gm/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 56abbb1b01..6a6e1ccaef 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -37,7 +37,7 @@ class CarState(CarStateBase): self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] != 2) and (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] != 2) rl_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] rr_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] - assert rl_wheel_dir in (1, 2) and rr_wheel_dir in (1, 2), f"Invalid RLWheelDir: {rl_wheel_dir}, RRWheelDir: {rr_wheel_dir}" + assert rl_wheel_dir not in (3, 4) and rr_wheel_dir not in (3, 4), f"Invalid RLWheelDir: {rl_wheel_dir}, RRWheelDir: {rr_wheel_dir}" # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0