From dac7e504930ff03db950a7ed7ca874b010ee0733 Mon Sep 17 00:00:00 2001 From: royjr Date: Tue, 13 Dec 2022 00:44:48 -0500 Subject: [PATCH] Honda Radarless: clean up disabled radar check (#26776) * exclude radarless cars * this was never an issue, but clean up some stuff * better Co-authored-by: Shane Smiskol old-commit-hash: 0aada196e0c0ec75d6d8a1b9d96c41576aff88a1 --- selfdrive/car/honda/hondacan.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 87f8e6c5de..6861198158 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint): def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): - if radar_disabled: + no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS + if radar_disabled or no_radar: # when radar is disabled, steering commands are sent directly to powertrain bus return get_pt_bus(car_fingerprint) # normally steering commands are sent to radar, which forwards them to powertrain bus @@ -104,7 +105,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint): def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) - radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl + radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) if CP.openpilotLongitudinalControl: @@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, else: commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) - if radar_disabled and CP.carFingerprint in HONDA_BOSCH: + if radar_disabled: radar_hud_values = { 'CMBS_OFF': 0x01, 'SET_TO_1': 0x01,