From 8f1e67f6259c436aff500f6bdff9067d4ca79eb1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Apr 2023 22:31:59 -0700 Subject: [PATCH] Subaru: always show LKAS active (#27945) subaru always shows lines if LKAS is enabled (not active), more clear what we're sending --- selfdrive/car/subaru/subarucan.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 8615b60c62..e7b40bc6f2 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -56,11 +56,8 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ elif right_lane_depart: values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 # Green enabled indicator - else: - values["LKAS_Dash_State"] = 0 # LKAS Not enabled + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line)