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angle steer fault

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ajouatom 2025-02-13 18:06:53 +09:00
parent 647cce36cb
commit 5d77eeb6b5
2 changed files with 3 additions and 1 deletions
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2
opendbc_repo/opendbc/car/hyundai/carstate.py
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@ -343,7 +343,7 @@ class CarState(CarStateBase):
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 or cp.vl["MDPS"]["LFA2_FAULT"] != 0
#ret.steerFaultTemporary = False
# carrot test

2
opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
View File

@ -130,6 +130,8 @@ BO_ 234 MDPS: 24 XXX
SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX
SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
SG_ LFA2_ACTIVE : 145|2@0+ (1,0) [0|3] "" XXX
SG_ LFA2_FAULT : 149|1@0+ (1,0) [0|1] "" XXX
BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX