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Hyundai: set radarOffCan by radar DBC (#23981)

pull/23762/head
Shane Smiskol 2022-03-16 20:27:21 -07:00 committed by GitHub
parent facf6c109d
commit 3a7edeea32
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1 changed files with 2 additions and 2 deletions
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4
selfdrive/car/hyundai/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
ret.carName = "hyundai"
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)
ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)