diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index e2eabc4d0a..f5ccb2fc95 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -80,9 +80,9 @@ class CarController: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.infotainmentstatus_cnt != CS.infotainmentstatus_msg["COUNTER"]: - can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.infotainmentstatus_msg)) - self.infotainmentstatus_cnt = CS.infotainmentstatus_msg["COUNTER"] + if self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]: + can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg)) + self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"] if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 5c91f24bdd..ec4e7249cf 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -82,7 +82,7 @@ class CarState(CarStateBase): cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) - self.infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) + self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) return ret