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Hyundai: set radarOffCan by radar DBC (#23981)

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old-commit-hash: 3a7edeea32
taco
Shane Smiskol 3 years ago committed by GitHub
parent 2f0f77a4f7
commit e426e2ba2b
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/car/hyundai/interface.py

4
selfdrive/car/hyundai/interface.py
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@ -2,7 +2,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
ret.carName = "hyundai" ret.carName = "hyundai"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR) ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)

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