From a342b68304cea3151ee8280d53ee12d4eb501d1b Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 5 Jan 2021 21:10:21 -0800 Subject: [PATCH] hyundai: increase number of resume messages sent at a time (#19634) * make hyundai resume reliable * typo Co-authored-by: Adeeb Shihadeh old-commit-hash: 97bfd91955abc65a34ac4c08f5cef2b41355bb8d --- selfdrive/car/hyundai/carcontroller.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4483d7b219..69c388fe8e 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -76,7 +76,8 @@ class CarController(): elif CS.out.cruiseState.standstill: # send resume at a max freq of 10Hz if (frame - self.last_resume_frame)*DT_CTRL > 0.1: - can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 20) + # send 25 messages at a time to increases the likelihood of resume being accepted + can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25) self.last_resume_frame = frame # 20 Hz LFA MFA message