From b1abb47fbd741ecdb8e3588d5c4d38bdd9ad4217 Mon Sep 17 00:00:00 2001 From: "NiCK.n17" Date: Sat, 31 Oct 2020 01:45:57 +0100 Subject: [PATCH] Car bug fix: 2020 Kia Niro EV orange lanes icon and LKAS error on cluster display (#2454) --- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 7364356157..4651dd56db 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -83,7 +83,7 @@ class CarController(): self.last_resume_frame = frame # 20 Hz LFA MFA message - if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]: + if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV]: can_sends.append(create_lfa_mfa(self.packer, frame, enabled)) return can_sends diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 1e7b751018..6ea6bbcbfd 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -19,7 +19,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_MsgCount"] = frame % 0x10 values["CF_Lkas_Chksum"] = 0 - if car_fingerprint in [CAR.SONATA, CAR.PALISADE]: + if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV]: values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2