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@ -2,7 +2,7 @@ |
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from cereal import car |
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from selfdrive.config import Conversions as CV |
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET |
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from selfdrive.car.mazda.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, ECU |
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from selfdrive.car.mazda.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, Ecu |
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from selfdrive.car.mazda.carstate import CarState |
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected |
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from selfdrive.car.interfaces import CarInterfaceBase |
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@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase): |
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, |
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tire_stiffness_factor=tire_stiffness_factor) |
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay |
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay |
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return ret |
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@ -82,8 +82,6 @@ class CarInterface(CarInterfaceBase): |
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# TODO: button presses |
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ret.buttonEvents = [] |
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events = self.create_common_events(ret) |
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if ret.cruiseState.enabled and self.CS.lkas_speed_lock: |
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self.low_speed_alert = True |
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else: |
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@ -97,9 +95,6 @@ class CarInterface(CarInterfaceBase): |
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if ret.cruiseState.enabled: |
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ret.cruiseState.enabled = False |
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if self.low_speed_alert: |
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events.append(create_event('belowSteerSpeed', [ET.WARNING])) |
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if self.CS.steer_lkas.handsoff: |
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING])) |
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