From 02b6ac77c16136f5638303a49f604a707f700e56 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 12 Feb 2025 09:34:42 -0500 Subject: [PATCH] send it --- opendbc/car/hyundai/hyundaicanfd.py | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) diff --git a/opendbc/car/hyundai/hyundaicanfd.py b/opendbc/car/hyundai/hyundaicanfd.py index c29303e5a7..6ac54e5ccd 100644 --- a/opendbc/car/hyundai/hyundaicanfd.py +++ b/opendbc/car/hyundai/hyundaicanfd.py @@ -39,24 +39,9 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, ret = [] values = { - "LKA_MODE": 0, - "LKA_ICON": 2 if enabled else 1, - "TORQUE_REQUEST": 0, - "LKA_ASSIST": 0, - "STEER_REQ": 0, - "STEER_MODE": 0, - "HAS_LANE_SAFETY": 0, # hide LKAS settings - "LKA_ACTIVE": 3 if lat_active else 0, - "NEW_SIGNAL_2": 0, "LKAS_ANGLE_CMD": -apply_angle, "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1, "LKAS_ANGLE_MAX_TORQUE": max_torque if lat_active else 0, - "LKAS_SIGNAL_1": 10, - "NEW_SIGNAL_3": 9, - "LKAS_SIGNAL_2": 1, - "LKAS_SIGNAL_3": 1, - "LKAS_SIGNAL_4": 1, - "LKAS_SIGNAL_5": 1, } if CP.flags & HyundaiFlags.CANFD_HDA2: @@ -65,7 +50,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values)) else: - ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + ret.append(packer.make_can_msg("LKAS_ADAS", CAN.ECAN, values)) return ret