From 5d77eeb6b5bafb05c04c5024fdfb50e7f521f6af Mon Sep 17 00:00:00 2001 From: ajouatom Date: Thu, 13 Feb 2025 18:06:53 +0900 Subject: [PATCH] angle steer fault --- opendbc_repo/opendbc/car/hyundai/carstate.py | 2 +- opendbc_repo/opendbc/dbc/hyundai_canfd.dbc | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py index 31a9976..1831e7f 100644 --- a/opendbc_repo/opendbc/car/hyundai/carstate.py +++ b/opendbc_repo/opendbc/car/hyundai/carstate.py @@ -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 diff --git a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc index de4505b..0db1cbe 100644 --- a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc +++ b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc @@ -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