From b51fcc2c5274affff56b653e79c4788f6b4bd015 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 25 Apr 2023 21:58:53 -0700 Subject: [PATCH] lkas11 for hyundai --- selfdrive/car/hyundai/hyundaican.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 858f3d0876..0bb2523e0d 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -7,7 +7,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): - values = lkas11 + values = {k: lkas11[k] for k in [ + "CF_Lkas_LdwsActivemode", + "CF_Lkas_LdwsSysState", + "CF_Lkas_SysWarning", + "CF_Lkas_LdwsLHWarning", + "CF_Lkas_LdwsRHWarning", + "CF_Lkas_HbaLamp", + "CF_Lkas_FcwBasReq", + "CF_Lkas_HbaSysState", + "CF_Lkas_FcwOpt", + "CF_Lkas_HbaOpt", + "CF_Lkas_FcwSysState", + "CF_Lkas_FcwCollisionWarning", + "CF_Lkas_FusionState", + "CF_Lkas_FcwOpt_USM", + "CF_Lkas_LdwsOpt_USM", + ]} values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_LdwsLHWarning"] = left_lane_depart