From 6cdafb408387c93abafdab510fa0a97fdf235ead Mon Sep 17 00:00:00 2001 From: Martin Lillepuu Date: Wed, 19 Apr 2023 19:21:21 +0300 Subject: [PATCH] Use stockAeb for AEB passthrough --- selfdrive/car/subaru/carcontroller.py | 4 ++-- selfdrive/car/subaru/carstate.py | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 436441bf84..f508c80e08 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -89,7 +89,7 @@ class CarController: brake_cmd = True # AEB passthrough - if CC.enabled and CS.aeb: + if CC.enabled and CS.out.stockAeb: brake_cmd = False if CC.longActive and gas > 0: @@ -154,7 +154,7 @@ class CarController: self.cruise_control_cnt = CS.cruise_control_msg["COUNTER"] if self.brake_status_cnt != CS.brake_status_msg["COUNTER"]: - can_sends.append(subarucan.create_brake_status(self.packer, CS.brake_status_msg, CS.aeb)) + can_sends.append(subarucan.create_brake_status(self.packer, CS.brake_status_msg, CS.out.stockAeb)) self.brake_status_cnt = CS.brake_status_msg["COUNTER"] if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 4ed5d6c797..4c7d308c22 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -82,7 +82,6 @@ class CarState(CarStateBase): self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam - self.aeb = cp_es_brake.vl["ES_Brake"]["Cruise_Brake_Active"] self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"]) cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])