From cd0b39eeae7513e174b0173ac0440e65345b76fe Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 28 Aug 2023 18:29:10 -0400 Subject: [PATCH] Update comment --- selfdrive/car/hyundai/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 1ff211e860..370d6535e7 100644 --- 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))