selfdrived: add canError for radar can errors (#34873)

radar can invalid
1 month ago · abc1c5fb95
parent c0b39d328d
commit abc1c5fb95
1 changed files with 3 additions and 1 deletions
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@ -270,7 +270,9 @@ class SelfdriveD:
    if not REPLAY and self.rk.lagging:
      self.events.add(EventName.selfdrivedLagging)
    if not self.sm.valid['radarState']:
-      if self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
        self.events.add(EventName.radarTempUnavailable)
      else:
        self.events.add(EventName.radarFault)