From 700efcb3f444092f99ef10e9908f83402429d742 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 11 Feb 2022 11:04:39 -0500 Subject: [PATCH] Add param to unsafeMode --- selfdrive/car/interfaces.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 4e35f7dd27..701bf7cff3 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -74,7 +74,8 @@ class CarInterfaceBase(ABC): def get_std_params(candidate, fingerprint): ret = car.CarParams.new_message() ret.carFingerprint = candidate - ret.unsafeMode = 1 if Params().get_bool("DisengageOnGas") else 0 # see safety_declarations.h for allowed values + ret.unsafeMode = 0 # see safety_declarations.h for allowed values + ret.unsafeMode = 1 if Params().get_bool("DisengageOnGas") else 0 # sets unsafeMode to 1 if DisengageOnGas is True # standard ALC params ret.steerControlType = car.CarParams.SteerControlType.torque