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Honda: minor carState cleanup

pull/23657/head
Adeeb Shihadeh 2022-01-28 14:29:40 -08:00
parent e9cd0a059c
commit 2aa2031352
1 changed files with 2 additions and 3 deletions
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5
selfdrive/car/honda/carstate.py
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@ -163,6 +163,7 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.brake_error = False
self.brake_switch_prev = 0
self.brake_switch_prev_ts = 0
self.cruise_setting = 0
@ -203,9 +204,7 @@ class CarState(CarStateBase):
# LOW_SPEED_LOCKOUT is not worth a warning
ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if not self.CP.openpilotLongitudinalControl:
self.brake_error = 0
else:
if self.CP.openpilotLongitudinalControl:
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0