From ce1e890c5d01a65e2278652924ff9a3733555ad5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Oct 2022 23:24:14 -0700 Subject: [PATCH] HKG CAN-FD: log temporary steering faults (#26031) * log hkg can-fd temporary steering faults * bump to master old-commit-hash: c719b3b7ddd05d8369aab13e11f99af7990c73ea --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index ae2fd934ce..c35e8139bf 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ae2fd934ceb8501c56a0802564c14963dbb201ac +Subproject commit c35e8139bf9e9d87b9efb6764ab7e65983e8d33e diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 1f2de3286e..4d60afe1fd 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -180,6 +180,7 @@ class CarState(CarStateBase): ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD + ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) @@ -414,6 +415,7 @@ class CarState(CarStateBase): ("STEERING_ANGLE", "STEERING_SENSORS"), ("STEERING_COL_TORQUE", "MDPS"), ("STEERING_OUT_TORQUE", "MDPS"), + ("LKA_FAULT", "MDPS"), ("CRUISE_ACTIVE", "SCC1"), ("COUNTER", cruise_btn_msg),