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Force subaru to assume the stock camera is connected (#849)

pull/853/head v0.6.5
rbiasini 2019-10-13 18:25:09 -07:00 committed by GitHub
parent 069e337bea
commit 70d17cd69b
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1 changed files with 5 additions and 3 deletions
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8
selfdrive/car/subaru/interface.py
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@ -3,9 +3,9 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.subaru.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, ECU
from selfdrive.car.subaru.values import CAR
from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@ -48,7 +48,9 @@ class CarInterface(CarInterfaceBase):
ret.enableCruise = True
ret.steerLimitAlert = True
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
ret.steerRateCost = 0.7