diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index bd6b72f461..cc8fbe3f08 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -199,9 +199,7 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO" - self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1 + self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp @@ -210,6 +208,7 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) @@ -439,8 +438,7 @@ class CarState(CarStateBase): ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), - - ("DISTANCE_UNIT", "CLUSTER_INFO"), + ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), @@ -449,21 +447,20 @@ class CarState(CarStateBase): ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ] - if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN: - signals.append(("DISTANCE_UNIT", cruise_btn_msg)) - checks = [ ("WHEEL_SPEEDS", 100), (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), - (cruise_btn_msg, 50), - ("CLUSTER_INFO", 4), + ("CRUISE_BUTTONS_ALT", 50), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + checks.append(("CRUISE_BUTTONS", 50)) + if CP.enableBsm: signals += [ ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a32eba928e..57e3a05f4d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2f83b9872fe991d21e07a95cc518f91f140a856a \ No newline at end of file +faa85c0cb3609fc43674b263ae885c60f136ba6c \ No newline at end of file