From ba3d3233dcc580e787f97012c96e8f3b62c4863d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 30 Nov 2023 07:57:29 -0800 Subject: [PATCH] Revert "Subaru: log eyesight fault as a cruise fault" (#30560) old-commit-hash: b1e2e0f565010191f0f624487c4b74c63008f03a --- selfdrive/car/subaru/carstate.py | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index b51fcc6846..c8a6dfe1e6 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -19,8 +19,6 @@ class CarState(CarStateBase): def update(self, cp, cp_cam, cp_body): ret = car.CarState.new_message() - cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam - throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"] ret.gas = throttle_msg["Throttle_Pedal"] / 255. @@ -31,14 +29,6 @@ class CarState(CarStateBase): cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1 - if self.car_fingerprint not in HYBRID_CARS: - eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"]) - - if self.CP.openpilotLongitudinalControl: - ret.carFaultedNonCritical = eyesight_fault - else: - ret.accFaulted = eyesight_fault # if openpilot isn't controlling long, an eyesight fault is an acc fault - cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.wheelSpeeds = self.get_wheel_speeds( cp_wheels.vl["Wheel_Speeds"]["FL"], @@ -94,6 +84,7 @@ class CarState(CarStateBase): cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 + cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam if self.car_fingerprint in PREGLOBAL_CARS: self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]