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hyundai: update steer warning (#19628) 

* update steer warning for hyundai

* hyundai: add CF_Mdps_ToiFlt to steerWarning
albatross
Greg Hogan 2021-04-10 18:29:57 -07:00 committed by GitHub
parent 8c3ec9dd31
commit 71654f141b
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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4
selfdrive/car/hyundai/carstate.py
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@ -34,7 +34,7 @@ class CarState(CarStateBase):
ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0 or cp.vl["MDPS12"]['CF_Mdps_ToiFlt'] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
@ -194,7 +194,7 @@ class CarState(CarStateBase):
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("SAS_Angle", "SAS11", 0),