Update comment

2 years ago · cd0b39eeae
parent 08db9bab11
commit cd0b39eeae
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -110,7 +110,7 @@ class CarController:
      # steering control
      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))

-      # disable LFA on HDA2
+      # HDA2, send "no lanelines detected" to ADAS ECU, this prevents factory LFA from overriding our steering commands
      if self.frame % 5 == 0 and hda2:
        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))