From a50fbe17c8b56acd3f61f2fa71fbaa8f9faa3a44 Mon Sep 17 00:00:00 2001 From: eFini Date: Sun, 2 Apr 2023 06:21:26 +0800 Subject: [PATCH] Cleanup: Honda interface already checks vehicle model for BSM (#27775) --- selfdrive/car/honda/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 8189800368..eea78758a8 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -293,7 +293,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: self.lkas_hud = cp_cam.vl["LKAS_HUD"] - if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ): + if self.CP.enableBsm: # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 # more info here: https://github.com/commaai/openpilot/pull/1867 ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 @@ -340,7 +340,7 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): - if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: + if CP.enableBsm: signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), ("BSM_ALERT", "BSM_STATUS_LEFT")]